Precision optimized pose and trajectory planning for vertically articulated robot arms

Gümbel, Philip; He, Xiao Juan Joyce; Dröder, Klaus

doi:10.1016/j.procir.2022.02.176

Cited by 9 publications

(2 citation statements)

References 8 publications

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“…The hardware device developed for this purpose replicated a dispensing machine stage constructed from an aluminum frame. This stage included a microplate holder and dial gauges, which are used in the mechanical engineering field to measure spatial displacements 23,24 . Using this device, we moved the microplate to specific positions using a robotic arm and measured its position repeatability via dial gauges.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Microplate Handling Accuracy for Applying Robotic Arms in Laboratory Automation

Harazono,

Shimono,

Hata

et al. 2024

Preprint

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An inexpensive single-arm robot is widely utilized for recent laboratory automation solutions. The integration of a single-arm robot as a transfer system into a semi-automatic liquid dispenser without a transfer system can be realized as an inexpensive alternative to a fully automated liquid handling system. However, there has been no quantitative investigation of the positional accuracy of robot arms required to transfer microplates. In this study, we constructed a platform comprising aluminum frames and digital gauges to facilitate such measurements. We measured the position repeatability of a robot arm equipped with a custom-made finger by repeatedly transferring microplates. Further, the acceptable misalignment of plate transfer was evaluated by adding an artificial offset to the microplate position using this platform. The results of these experiments are expected to serve as benchmarks for the selection of robot arms for laboratory automation in biology. Furthermore, all information for replicating this device will be made publicly available, thereby allowing many researchers to collaborate and accumulate knowledge, hopefully contributing to advances in this field.

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Section: Introductionmentioning

confidence: 99%

Evaluation of Microplate Handling Accuracy for Applying Robotic Arms in Laboratory Automation

Harazono,

Shimono,

Hata

et al. 2024

Preprint

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“…Yamaguchi and Aiyama (2021) compensated the absolute position and installation error of the robot in the workspace to solve the problem of recalculating the installation position and error of the robot after replacing an industrial robot in a factory. Gümbel et al (2022) investigated the accuracy and trajectory of a vertically articulated robotic arm and proposed the use of a typical trajectory planner to generate a smooth collision-free trajectory and to optimize the design of the robotic arm configuration by minimizing the structural and dimensional sensitivity, the number of driven joints and the required orientation variation of the joints during the trajectory.…”

Section: Introductionmentioning

confidence: 99%

Assembly precision design for parallel robotic mechanism based on uncertain hybrid tolerance allocation

Xu¹,

Tao²,

Gao³

et al. 2023

RIA

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Purpose The coupling impact of hybrid uncertain errors on the machine precision is complex, as a result of which the designing method with multiple independent error sources under uncertainties remains a challenge. For the purpose of precision improvement, this paper focuses on the robot design and aims to present an assembly precision design method based on uncertain hybrid tolerance allocation (UHTA), to improve the positioning precision of the mechanized robot, as well as realize high precision positioning within the workspace. Design/methodology/approach The fundamentals of the parallel mechanism are introduced first to implement concept design of a 3-R(4S) &3-SS parallel robot. The kinematic modeling of the robot is carried out, and the performance indexes of the robot are calculated via Jacobian matrix, on the basis of which, the 3D spatial overall workspace can be quantified and visualized, under the constraints of limited rod, to avoid the singular position. The error of the robot is described, and a probabilistic error model is hereby developed to classify the hybrid error sensitivity of each independent uncertain error source by Monte Carlo stochastic method. Most innovatively, a methodology called UHTA is proposed to optimize the robot precision, and the tolerance allocation approach is conducted to reduce the overall error amplitude and improve the robotized positioning precision, on the premise of not increasing assembly cost. Findings The proposed approach is validated by digital simulation of medical puncture robot. The experiment highlights the mathematical findings that the horizontal plane positioning error of the parallel robotic mechanism can be effectively reduced after using UHTA, and the average precision can be improved by up to 39.54%. Originality/value The originality lies in UHTA-based precision design method for parallel robots. The proposed method has widely expanding application scenarios in industrial robots, biomedical robots and other assembly automation fields.

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Systematic Investigation of Influences on the Repeatability of Vertically Articulated Robot Arms

Gümbel,

Dröder

2023

Lecture Notes in Production Engineering

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Precision optimized pose and trajectory planning for vertically articulated robot arms

Cited by 9 publications

References 8 publications

Evaluation of Microplate Handling Accuracy for Applying Robotic Arms in Laboratory Automation

Evaluation of Microplate Handling Accuracy for Applying Robotic Arms in Laboratory Automation

Assembly precision design for parallel robotic mechanism based on uncertain hybrid tolerance allocation

Systematic Investigation of Influences on the Repeatability of Vertically Articulated Robot Arms

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