scholarly journals Deflection estimation of industrial robots with flexible joints

2021 ◽  
Author(s):  
Huan Liu ◽  
Yaguo Lei ◽  
Xiao Yang ◽  
Wenlei Song ◽  
Junyi Cao
Keyword(s):  
Industrial Robots ◽  
Flexible Joints

Process Parameter Optimization of a Mobile Robotic Percussive Riveting System With Flexible Joints

2017 ◽  
Vol 12 (6) ◽  
Author(s):  
Yuwen Li ◽  
Jiancheng Ji ◽  
Shuai Guo ◽  
Fengfeng (Jeff) Xi
Keyword(s):  
Parameter Optimization ◽  
Process Parameters ◽  
Impact Force ◽  
Process Parameter ◽  
Industrial Robots ◽  
Mobile Platform ◽  
Force Frequency ◽  
Flexible Joints ◽  
Process Parameter Optimization ◽  
Aerospace Assembly

This paper proposes a method for process parameter optimization of a mobile robotic percussive riveting system with flexible joints to guarantee the rivet gun alignment during the operation. This development is motivated by the increasing interest in using industrial robots to replace human operators for percussive impact riveting in aerospace assembly. In percussive riveting, the rivet gun generates repetitive impacts acting on the rivet. These impacts not only deform the rivet but also induce forced vibration to the robot, and thus the robot must hold the gun firmly during riveting. The process parameters for the mobile robotic riveting system include those related to the impact force generation for planning the rivet gun input and those related to the robot pose with respect to the joined panels for planning the mobile platform motion. These parameters are incorporated into a structural dynamic model of the robot under a periodic impact force. Then an approximate analytical solution is formulated to calculate the displacement of the rivet gun mounted on the end effector for its misalignment evaluation. It is found that both the force frequency and the mobile platform position have strong influence on the robotic riveting performance in terms of alignment during operation. Global optimization of these process parameters is carried out to demonstrate the practical application of the proposed method for the planning of the robotic percussive riveting system.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

Optimization on quick-speed of control systems of industrial robots

2018 ◽  
pp. 54-57
Author(s):  
V.G. Farhadov ◽  
◽  
A.A. Babaeva ◽  
A.T. Mamedova ◽  
◽  
...  
Keyword(s):  
Control Systems ◽  
Industrial Robots
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