Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

Kot, Tomáš; Bobovský, Zdenko; Vysocký, Aleš; Krys, Václav; Šafařík, Jakub; Ružarovský, Roman

doi:10.3390/app11125398

Cited by 8 publications

(3 citation statements)

References 32 publications

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“…These influences can be analysed primarily by using experimental methods. However, there are also many questions here as well, such as what method is appropriate for obtaining a given parameter [14][15][16]. Furthermore, applying an experimental method often depends on the feasibility of the experiment itself, the operating range of the measuring instrument and the type of measurement (static/dynamic) [6,17].…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Low-Cost Torque Sensor for Manipulators

Pástor,

Hagara,

Gašpár

et al. 2023

Applied Sciences

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Humanoid and collaborative robots find their application in numerous sectors, such as automotive, electrical and mechanical engineering, not excluding the field of bioengineering. They replace repetitive and often monotonous human activity. As the trend nowadays is for continuous optimization of production processes, their advantage is easy relocation and operative application to new tasks, which allows the automation of practically all manual work. A common feature of manipulators is the control of the positioning of the actuators, primarily by adjusting the parameters of the drive units. Feedback is often implemented through various sensors that provide real-time information. However, most of the sensors in use do not provide information that would allow obtaining data on the history of the operating load in order to assess the further safe and reliable operation of the mechanical parts. This paper presents a low-cost torque sensor that was proposed by modifying the design of an existing part. The torque sensor was developed on the principle of strain gauge measurement. The results of strain–stress analysis obtained by numerical modelling were experimentally validated under static and dynamic loading. Practical application is mainly the development and long-term testing of prototypes of various types of manipulators and collaborative robots, where high accuracy and repeatability of positioning are essential.

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Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Low-Cost Torque Sensor for Manipulators

Pástor,

Hagara,

Gašpár

et al. 2023

Applied Sciences

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“…During the required movements of the robot in real testing, the object of manipulation (motor) slipped out of the jaw. The trajectories of the robot movements have been optimised according to two requirements, namely to minimise energy consumption [Vysocky 2020] and to minimise robot wear [Kot 2021]. For this reason, it was no longer appropriate to change this trajectory.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Increasing the Friction Force of the Robot Jaws by Adding 3d Printed Flexible Inserts

Suder¹,

Kot²,

PANEC³

et al. 2021

MM SJ

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3D printing technology plays a key role in the production of prototypes and final functional parts. The ability to produce almost any shape using this technology in combination with lightweight materials is often used to minimise the weight of the designed components. However, for some applications, such as robot gripper jaws, conventional most commonly used materials, such as PLA, may be unsuitable due to their low coefficient of friction on the material of the manipulated object, which in some cases may cause the object to slip in the robot jaws. This article describes a technical problem from practice, where a manipulated object made of steel material slipped in the printed PLA jaws of the robot during its working cycle. This work is devoted to increasing the friction force of the robot jaws by adding 3D printed soft inserts. Two insert surface shapes made of two flexible materials TPU 30D and TPE 88 are tested. The increase in friction force is measured on a measuring device with an industrial robot and a force measuring sensor. The most suitable type of inserts and material is then tested on a collaborative robot at its required working cycle. The results of this experiment are intended to help designers as a source of information or inspiration in designing similar applications.

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“…It was validated on the recognition of letter shape (A-Z) with complex contours from a haptic acquisition platform based on three-scale pressure arrays. In [12], the optimization of robot placement was studied to reduce the overall robot joint wear, where a proper robot base placement results in an overall reduction in the wear of the joints of a robotic arm. An algorithm for verifying the correctness of multi-agent systems modeled as tracking bigraphical reactive systems and checking whether a behavior policy for the agents meets non-functional requirements is presented in [13].…”

mentioning

confidence: 99%