The dynamic characteristics of the manipulator with parallel kinematic structure based on experimental data

Osadchy, Sergei; Zozulya, Valerii; Timoshenko, Anna

doi:10.1109/idaacs.2013.6663058

Cited by 12 publications

(4 citation statements)

References 1 publication

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“…Rigid spokes 3 with split sections 4 and hub 5 provide structural strength of the wheel-mover construction [18]. Support-traction units perform MR's movement on working surface [11]. Each such unit includes sliding spokes with mounted in the hub 5 fixed elements and moving rods 6, which are put forward to machined ferromagnetic surface through the guide bushings 7 in split sections 4.…”

Section: Mobile Robot With Magnetically Operated Wheel-moversmentioning

confidence: 99%

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Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Kondratenko¹,

Zaporozhets²,

Rudolph³

et al. 2018

IJC

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The mathematical models of clamping permanent and electro- magnets for clamping force determination by means of field theory (method of secondary sources and features of integrated forces calculation) are offered for magnetically operated movers of mobile robots (MR) for moving on inclined or vertical ferromagnetic surfaces. The results of experimental investigations of magnetic induction and clamping force measurements in different spatial positions of clamping magnet relative to the ferromagnetic surface are given. The developed simulation models based on field theory and finite element method allow to validate the obtained functional dependencies with respect to gaps between magnet and working surface, caused by excrescences of shells, and ferromagnetic surface thickness changes due to its technological features, as well as help at the stage of MR’s design. Authors propose control and measuring system of clamping force that can be successfully used for new and existing MRs’ constructions for their reliable operating on complex surfaces taking into account the nature of their uncertainties (ferromagnetic or non-ferromagnetic).

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Section: Mobile Robot With Magnetically Operated Wheel-moversmentioning

confidence: 99%

“…The clamping force ACS cannot receive the feedback information about the current value of clamping force, generated by CE [11], when MR carries out given technological operations.…”

Section: Introductionmentioning

confidence: 99%

Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Kondratenko¹,

Zaporozhets²,

Rudolph³

et al. 2018

IJC

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“…The tasks and missions of robotic systems define their construction peculiarities and the diversity of their types [2,7,8]. Examples are planar robots [11], manipulators with parallel kinematic structure [12], dual arm robot manipulator [13], robots with multiarm structure [14], mobile robots [15][16][17][18], etc.…”

Section: Introductionmentioning

confidence: 99%

Models of Robot’s Wheel-Mover Behavior on Ferromagnetic Surfaces

Taranov¹,

Kondratenko²

2018

IJC

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The mobile robots which can move on complicated working surfaces play a significant role in the automation of various technological processes, in particular, ship repair, fire fighting, inspection of welding quality, rescue operations, etc. This work is a continuation of the authors’ investigation of the mobile robot’s moving on inclined and vertical ferromagnetic surfaces based on a magnetically operated wheel-mover. Special attention is paid to constructing magnetically operated wheel-mover with twelve legs and modeling of the robot’s wheel-mover behavior in different working modes including investigations of the wheel-mover center trajectory, behavior of control signals, etc. Geometrical dependences between a number of wheel-mover legs and deviation of the wheel center path from horizontal line are described. In the present article the modeling results for movement of the wheel-mover on both plain and non-plain surfaces are discussed. For this purpose, the mathematical model of the wheel-mover was created and analyzed and the results were verified using a simulation approach.

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“…The objects may differ in the parameters (mass, geometrical dimensions, material, surface roughness, etc. ), which can change during the execution of robot manipulation operations [1][2][3]. Besides, the slipping problem is typical for adaptive mobile robotic complexes and systems designed for technological operations on the inclined and vertical surfaces, such as: cleaning, painting, welding, inspection and others [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

A Simulation Model for Robot’s Slip Displacement Sensors

Kondratenko¹,

Gerasin²,

Topalov³

2016

IJC

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This paper deals with a simulation model of slip displacement sensors for the object slip signals’ registration in the adaptive robot’s gripper. The study presents the analysis of different methods for slip displacement signals detection, as well as authors’ solutions. Special attention is paid to the investigations of the developed sensor with the resistive registration element in rod type structure of sensitive elements, which is able to operate in harsh and corrosive environments. A sensing system for the object slip signals’ registration in the adaptive robot’s gripper with a clamping force correction is developed for proposed slip displacement sensor with multi-component resistive registration elements. The hardware implementation of the sensing system for slip signals’ registration and obtained results are considered in details. The simulation model of the proposed slip displacement sensor based on polytypic conductive rubber is modeled by Proteus software. The intelligent approaches with the use of a field programmable gate array (FPGA) and VHDL-model to the sensing system designing allow to define the slippage direction in slip displacement sensor based on resistive registration elements. Thus, this expands the functionality of the developed sensor.

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The dynamic characteristics of the manipulator with parallel kinematic structure based on experimental data

Cited by 12 publications

References 1 publication

Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Models of Robot’s Wheel-Mover Behavior on Ferromagnetic Surfaces

A Simulation Model for Robot’s Slip Displacement Sensors

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