Physics-based mechatronics modeling and application of an industrial-grade parallel tool head

Wang, Dong; Wang, Liping; Wu, Jun

doi:10.1016/j.ymssp.2020.107158

Cited by 20 publications

(7 citation statements)

References 34 publications

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“…Furthermore, the synthesis parameters of the negative CKC GHI are determined on the basis of the problems of Chebyshev and least-square approximations [16,17].…”

Section: Kinematic Synthesis Of the Pm With Two Grippersmentioning

confidence: 99%

“…In the considered approach of kinematic analysis and synthesis of mechanisms and manipulators, it is rather difficult to obtain the polynomials; moreover, with the complication of the structures of mechanisms and manipulators, the formation of polynomials becomes more complicated and their degree increases. Performance analysis and applications of the PMs and robots are also presented in [16][17][18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

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Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers

et al. 2021

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In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive and one negative closing kinematic chains (CKCs). A PM with two end effectors can be used for reloading operations of stamped products between two adjacent main technologies in a cold stamping line. Passive CKCs represent two serial manipulators with two degrees of freedom, and negative CKC is a three-joined link with three negative degrees of freedom. A negative CKC imposes three geometric constraints on the movements of the two output objects. Geometric parameters of the negative CKC are determined on the basis of the problems of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the PM with two end effectors have been solved.

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“…Furthermore, the synthesis parameters of the negative CKC GHI are determined on the basis of the problems of Chebyshev and least-square approximations [16,17].…”

Section: Kinematic Synthesis Of the Pm With Two Grippersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers

et al. 2021

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“…Honing machines can be conventional or numerically controlled (CNC honing machine tools) [38][39][40][41][42][43], either with vertical or horizontal configuration [44], and can have one or more spindles in order to increase productivity, for example six machining spindles. The honing process can also be conducted on drilling machines, on lathes, or on milling machines [45][46][47].…”

Section: Introductionmentioning

confidence: 99%

Influence of Honing Parameters on the Quality of the Machined Parts and Innovations in Honing Processes

Sender

Buj-Corral

2023

Metals

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The article presents a literature review dealing with the effect of the honing parameters on the quality of the machined parts, as well as with the recent innovations in honing processes. First, an overview about the honing and the plateau-honing processes is presented, considering the main parameters that can be varied during machining. Then, the influence of the honing parameters on surface finish, shape deviation and material removal rate is presented. Finally, some special and innovative applications of the honing process are described. For example, honing with variable kinematics allows obtaining oil grooves that are not rectilinear but curvilinear, in order to reduce the temperature of the part during machining and thus obtaining better surface finish and lower shape deviation. Automation of the honing machines is useful to improve both the production and the verification process. Another innovation consists of using 3D printed tools in honing processes, which will help to obtain abrasive tools with complex shapes, for example by means of powder bed fusion processes.

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“…27 In addition, as a mechatronics system, both the mechanical system and the control system will affect the dynamic performance of the PTLIRs. 28 For the control system, the servo motor as the actuator of the robot is closely related to the dynamic performance, 29 and the research of the sever motor models mostly concentrates on taking load inertia as a disturbance. 30 However, considering the PTLIRs have a more serious change of load inertia during obstacle avoidance, 31 this kind of traditional model is not suitable for the performance analysis of PTLIRs.…”

Section: Introductionmentioning

confidence: 99%

Dynamic performance analysis based on the mechatronic system of power transmission line inspection robot with dual-arm

Fan

Shang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Dynamic performance of the power transmission line inspection robots (PTLIRs) is of great importance, which would heavily affect the stability of the robot during obstacle avoidance. In this paper, a detailed dynamic performance analysis method of PTLIR is presented by considering the effect on the mechatronic system caused by obstacle avoidance. First, the dynamic modeling of the robot and control system model of the revolute joint are given based on the mechatronic modeling. Then, dynamic characteristics of mechanical subsystem are analyzed by studying the change of the inertia matrix during obstacle avoidance. Next, to analyze the control subsystem performance, three kinds of pole assignment methods which used to tune the controller parameter are compared. Finally, a series of numerical simulations are performed, which prove the time-varying characteristic of load inertia during obstacle avoidance has a great influence on the dynamic performance of the robot, moreover, the changes of natural angular frequency and damping coefficient parameters could be used to evaluate dynamic performance. The main results of the paper can provide an effective tool to analysis dynamic performance of the PTLIR, which is meaningful to improve inspection stability.

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Physics-based mechatronics modeling and application of an industrial-grade parallel tool head

Cited by 20 publications

References 34 publications

Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers

Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers

Influence of Honing Parameters on the Quality of the Machined Parts and Innovations in Honing Processes

Dynamic performance analysis based on the mechatronic system of power transmission line inspection robot with dual-arm

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