Synchronization of tool tip trajectory and attitude based on the surface characteristics of workpiece for 6-DOF robot manipulator

Chen, Chin‐Sheng; Chen, Shih-Kang

doi:10.1016/j.rcim.2019.01.016

Cited by 24 publications

(14 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this case, the identified maximal value is of 0.017124 mÁs À1 ¼ 17.124 mmÁs À1 . This value obtained from the simulation confirms the calculated value (equation (13)).…”

Section: Multibody Analysis Of the Robotic Manipulatorsupporting

confidence: 89%

“…Farther, values of velocities v x and v y from simulation (Figure 13(a) and (b)) and analytical calculation (section 'Kinematics of the mechanism' and equation (13)) are compared. These quantities are measured in joints of the lever arm (Figure 9).…”

Section: Multibody Analysis Of the Robotic Manipulatormentioning

confidence: 99%

“…This specific motion is guaranteed by the application of the articulation. The vertical movement of the mechanism causes the curve motion 13,14 (Figure 6(b)), which is caused by the acceptable slope of a connecting ball with a thread. The manipulator uses two ball-joints with the working ranges of 40° and 25°.…”

Section: Design Of a Structure Of The Robotic Manipulator And Functiomentioning

confidence: 99%

See 2 more Smart Citations

Design of a robotic manipulator for handling products of automotive industry

Blatnický

Dižo

Gerlici

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Automation is a process of handling and transport of products, which allows replacing man’s control by operation of manipulators and robots. It represents a highly complex process, which includes several operations and they are usually performed automatically by particular devices. In this article, a technical design of a universal versatile robotic manipulator for handling with automotive products is presented. The designed device is intended for handling with automotive products with a maximum weight of 25 kg. The technical solution of the manipulator comes from required specifications and operation conditions given by the customer, who will install it as a part of an automatic line. A particularity of the manipulator is the special functionality, which allows handling with objects of both circular and angular shapes. This is ensured by adaptable gripping fingers, which are able to adjust their position by means of a well-considered mechanism. The technical design of the manipulator includes calculation of forces needed for reliable gripping of manipulated objects, choice of a working screw and calculation of the load and carrying out of strength analyses of the main loaded part of the manipulator. Based on results, there is recommended an appropriate material for the manufacture of the device to reach its optimal accuracy of positioning of handled objects during a long-term operation.

show abstract

“…In this case, the identified maximal value is of 0.017124 mÁs À1 ¼ 17.124 mmÁs À1 . This value obtained from the simulation confirms the calculated value (equation (13)).…”

Section: Multibody Analysis Of the Robotic Manipulatorsupporting

confidence: 89%

Section: Multibody Analysis Of the Robotic Manipulatormentioning

confidence: 99%

Section: Design Of a Structure Of The Robotic Manipulator And Functiomentioning

confidence: 99%

See 1 more Smart Citation

Design of a robotic manipulator for handling products of automotive industry

Blatnický

Dižo

Gerlici

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Another technique for optimizing the trajectory is Directed Energy Deposition (DED). DED improves geometric accuracy through redundancy in the rotation of the axis of each joint to improve printing by layers of a constrained trajectory [127]. Table 10 shows some of the models obtained by these methods.…”

Section: Short Description Of Path Optimization Techniques In 3d-prin...mentioning

confidence: 99%

Recent Developments and Challenges of 3D-Printed Construction: A Review of Research Fronts

et al. 2022

View full text Add to dashboard Cite

In the last few years, scattered experiences of the application of additive manufacturing in the construction of buildings using 3D printing with robots or automated equipment have emerged around the world. These use a variety of procedures and suggest relevant advantages for the construction industry. In order to identify the different processes and features in development in this field and to guide future research and applications, this article presents a review of the literature on the main aspects involved in the use of 3D printing in the construction sector. The review includes state-of-the-art material mixtures, printing technologies, and potential uses, as well as a novel analysis of building strategies, management systems, and benefits stated about this new approach for construction. It reveals progressive experimentation regarding diverse features, with challenges related to the consolidation of procedures and this technology’s readiness to participate in the building market.

show abstract

“…In five-axis machining, the tool tips and tool axes are synchronized using a third curve to fit the relationship between two parameters, 6,14,24 or using the adjusting method in the smoothing process. 5,8,32 Chen and Chen 33 proposed a synchronized fitting method for a six-axis machining robot manipulators, the orientation uses a rotation matrix and a vector to plan the tool orientations. However, the orientation errors cannot be constrained.…”

Section: Introductionmentioning

confidence: 99%

A tolerance constrained robot path circular interpolation method for industrial SCARA robots

Deng

Yan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

View full text Add to dashboard Cite

The linear robot path is tangential and curvature discontinuity, which will lead to vibration and unnecessary hesitation during execution. Local corner transition method and local spline interpolation method are used in state-of-art industrial robot controller to reduce vibration, while local corner transition method cannot interpolate target points and local spline interpolation method cannot constrain chord errors. This research proposes a robot path local interpolation method that eliminates deficiencies of each method. The smoothing method satisfies all of the following requirements: G1 continuity, target point interpolation and chord tolerance confined, shape-preserving (free of self-intersection), and unified parameterization. The generated smooth path consists of linear path and circular arc path with G1 continuity. A geometric iterative method cooperating with local corner transition method is used to generate local interpolation path. Simulations and actual experiments verify the generated smooth path is G1 continuous, tolerance constrained, shape-preserving, and have high computational efficiency.

show abstract

Synchronization of tool tip trajectory and attitude based on the surface characteristics of workpiece for 6-DOF robot manipulator

Cited by 24 publications

References 23 publications

Design of a robotic manipulator for handling products of automotive industry

Design of a robotic manipulator for handling products of automotive industry

Recent Developments and Challenges of 3D-Printed Construction: A Review of Research Fronts

A tolerance constrained robot path circular interpolation method for industrial SCARA robots

Contact Info

Product

Resources

About