Dynamic Simulation of a Leadscrew Driven Flexible Robot Arm and Controller

1986 ◽  
Vol 108 (2) ◽  
pp. 119-126 ◽  
Author(s):  
Nabil G. Chalhoub ◽  
A. Galip Ulsoy
Keyword(s):  
High Performance ◽  
Industrial Robots ◽  
Body Motion ◽  
Structural Flexibility ◽  
Robot Arm ◽  
Flexible Robot ◽  
Spherical Coordinate ◽  
Performance Requirements ◽  
Simulation Results ◽  
Speed And Accuracy

High performance requirements in robotics have led to the consideration of structural flexibilty in robot arms. This paper employs an assumed modes method to model the flexible motion of the last link of a spherical coordinate robot arm. The model, which includes the non backdrivability of the leadscrews, is used to investigate relationships between the arm structural flexibility and a linear controller for the rigid body motion. This simple controller is used to simulate the controllers currently used in industrial robots. The simulation results illustrate the differences between leadscrew driven and unconstrained axes of the robot; they indicate the trade-off between speed and accuracy; and show potential instability mechanisms due to the interaction between the controller and the robot structural flexibility.

Control of a Flexible Robot Arm: Experimental and Theoretical Results

1987 ◽  
Vol 109 (4) ◽  
pp. 299-309 ◽  
Author(s):  
N. G. Chalhoub ◽  
A. G. Ulsoy
Keyword(s):  
Partial Evaluation ◽  
Digital Simulation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Motion Controller ◽  
Positional Accuracy ◽  
Spherical Coordinate ◽  
End Effector ◽  
Theoretical Results ◽  
Observation Spillover

The operation of high precision robots is severely limited by. their manipulator dynamic deflection, which persists for a period of time after a move is completed. These unwanted vibrations deteriorate the end effector positional accuracy and reduce significantly the robot arm production rate. A “rigid and flexible motion controller” is derived to introduce additional damping into the flexible motion. This is done by using additional sensors to measure the compliant link vibrations and feed them back to the controller. The existing actuators at the robot joints are used (i.e., no additional actuators are introduced). The performance of the controller is tested on a dynamic model, developed in previous work, for a spherical coordinate robot arm whose last link only is considered to be flexible. The simulation results show a significant reduction in the vibratory motion. The important issue of control and observation spillover is examined and found to present no significant practical problems. Partial evaluation of this approach is performed experimentally by testing two controllers, a “rigid body controller” and a “rigid and flexible motion controller,” on a single joint of a spherical coordinate, laboratory robot arm. The experimental results show a significant reduction in the end effector dynamic deflection; thus partially validating the results of the digital simulation studies.

Dynamic Models for Control System Design of Integrated Robot and Drive Systems

1985 ◽  
Vol 107 (1) ◽  
pp. 53-59 ◽  
Author(s):  
M. C. Good ◽  
L. M. Sweet ◽  
K. L. Strobel
Keyword(s):  
Experimental Data ◽  
Control System ◽  
System Design ◽  
High Performance ◽  
Dynamic Models ◽  
Industrial Robots ◽  
Analytical Models ◽  
Control System Design ◽  
Robot Arm ◽  
Drive Systems

The design of high performance motion controls for industrial robots is based on accurate models for the robot arm and drive systems. This paper presents analytical models and experimental data to show that interactions between electromechanical drives coupled with compliant linkages to arm link drive points are of fundamental importance to robot control system design. Flexibility in harmonic drives produces resonances in the 5 Hz to 8 Hz range. Flexibility in the robot linkages and joints connecting essentially rigid arm members produces higher frequency modes at 14 Hz and 40 Hz. The nonlinear characteristics of the drive system are modeled, and compared to experimental data. The models presented have been validated over the frequency range 0 to 50 Hz. The paper concludes with a brief discussion of the influence of model characteristics on motion control design.

scholarly journals DESIGNING HEDGE ALGEBRAIC CONTROLLER AND OPTIMIZING BY GENETIC ALGORITHM FOR SERIAL ROBOTS ADHERING TRAJECTORIES

2020 ◽  
Vol 36 (3) ◽  
pp. 265-283
Author(s):  
Nguyen Tien Duy ◽  
Vu Duc Vuong
Keyword(s):  
Genetic Algorithm ◽  
Industrial Revolution ◽  
Industrial Robots ◽  
Rule Base ◽  
Base System ◽  
Robot Arm ◽  
Linguistic Rule ◽  
Serial Robots ◽  
Simulation Results ◽  
Fuzzy Parameters

In recent years, the application of hedge algebras in the field of control has been studied. The results show that this approach has many advantages. In additions, industrial robots are being well-developed and extensively used, especially in the industrial revolution 4.0. Accurate control of industrial robots is a class of problems that many scientists are interested in. In this paper, we design a controller based on hedge algebra for serial robots. The control rule is given by linguistic rule base system. The goal is to accurately control the moving robot arm which adheres given trajectories. Optimization of fuzzy parameters for the controller is done by genetic algorithms. The system has been simulated on the Matlab-Simulink software. The simulation results show that the orbital deviation is very small. Moreover, the controller worked well with correct control quality. This result once presents the simplicity and efficiency of the hedge algebras approach to control.

scholarly journals Numerical algorithms for high-performance computational science

2020 ◽  
Vol 378 (2166) ◽  
pp. 20190066 ◽  
Author(s):  
Jack Dongarra ◽  
Laura Grigori ◽  
Nicholas J. Higham
Keyword(s):  
High Performance ◽  
Numerical Algorithms ◽  
Computational Science ◽  
Floating Point ◽  
Important Criterion ◽  
Data Movement ◽  
Floating Point Arithmetic ◽  
High Performance Computers ◽  
Point Arithmetic ◽  
Speed And Accuracy

A number of features of today’s high-performance computers make it challenging to exploit these machines fully for computational science. These include increasing core counts but stagnant clock frequencies; the high cost of data movement; use of accelerators (GPUs, FPGAs, coprocessors), making architectures increasingly heterogeneous; and multi- ple precisions of floating-point arithmetic, including half-precision. Moreover, as well as maximizing speed and accuracy, minimizing energy consumption is an important criterion. New generations of algorithms are needed to tackle these challenges. We discuss some approaches that we can take to develop numerical algorithms for high-performance computational science, with a view to exploiting the next generation of supercomputers. This article is part of a discussion meeting issue ‘Numerical algorithms for high-performance computational science’.

Improving Efficiency in Robot Assisted Belt Grinding of High Performance Materials

2014 ◽  
Vol 907 ◽  
pp. 139-149 ◽  
Author(s):  
Eckart Uhlmann ◽  
Florian Heitmüller
Keyword(s):  
Gas Turbines ◽  
High Performance ◽  
Scale Effects ◽  
Turbine Blades ◽  
Repair Process ◽  
Industrial Robots ◽  
Robot Assisted ◽  
Belt Grinding ◽  
Economy Of Scale ◽  
The Individual

In gas turbines and turbo jet engines, high performance materials such as nickel-based alloys are widely used for blades and vanes. In the case of repair, finishing of complex turbine blades made of high performance materials is carried out predominantly manually. The repair process is therefore quite time consuming. And the costs of presently available repair strategies, especially for integrated parts, are high, due to the individual process planning and great amount of manually performed work steps. Moreover, there are severe risks of partial damage during manually conducted repair. All that leads to the fact that economy of scale effects remain widely unused for repair tasks, although the piece number of components to be repaired is increasing significantly. In the future, a persistent automation of the repair process chain should be achieved by developing adaptive robot assisted finishing strategies. The goal of this research is to use the automation potential for repair tasks by developing a technology that enables industrial robots to re-contour turbine blades via force controlled belt grinding.

scholarly journals A RF Redundant TSV Interconnection for High Resistance Si Interposer

Micromachines ◽  
2021 ◽  
Vol 12 (2) ◽  
pp. 169
Author(s):  
Mengcheng Wang ◽  
Shenglin Ma ◽  
Yufeng Jin ◽  
Wei Wang ◽  
Jing Chen ◽  
...  
Keyword(s):  
Millimeter Wave ◽  
High Frequency ◽  
High Performance ◽  
Rapid Development ◽  
Coplanar Waveguide ◽  
Equivalent Circuit Model ◽  
High Resistivity ◽  
Performance Requirements ◽  
Wave Radar ◽  
Interconnect Design

Through Silicon Via (TSV) technology is capable meeting effective, compact, high density, high integration, and high-performance requirements. In high-frequency applications, with the rapid development of 5G and millimeter-wave radar, the TSV interposer will become a competitive choice for radio frequency system-in-package (RF SIP) substrates. This paper presents a redundant TSV interconnect design for high resistivity Si interposers for millimeter-wave applications. To verify its feasibility, a set of test structures capable of working at millimeter waves are designed, which are composed of three pieces of CPW (coplanar waveguide) lines connected by single TSV, dual redundant TSV, and quad redundant TSV interconnects. First, HFSS software is used for modeling and simulation, then, a modified equivalent circuit model is established to analysis the effect of the redundant TSVs on the high-frequency transmission performance to solidify the HFSS based simulation. At the same time, a failure simulation was carried out and results prove that redundant TSV can still work normally at 44 GHz frequency when failure occurs. Using the developed TSV process, the sample is then fabricated and tested. Using L-2L de-embedding method to extract S-parameters of the TSV interconnection. The insertion loss of dual and quad redundant TSVs are 0.19 dB and 0.46 dB at 40 GHz, respectively.

scholarly journals 3D Simulation-Based Acoustic Wave Resonator Analysis and Validation Using Novel Finite Element Method Software

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2715
Author(s):  
Ruth Yadira Vidana Morales ◽  
Susana Ortega Cisneros ◽  
Jose Rodrigo Camacho Perez ◽  
Federico Sandoval Ibarra ◽  
Ricardo Casas Carrillo
Keyword(s):  
Finite Element ◽  
High Performance ◽  
Cloud Services ◽  
3D Simulation ◽  
3D Simulations ◽  
Acoustic Resonators ◽  
Analysis And Design ◽  
Wave Resonator ◽  
Film Bulk ◽  
Simulation Results

This work illustrates the analysis of Film Bulk Acoustic Resonators (FBAR) using 3D Finite Element (FEM) simulations with the software OnScale in order to predict and improve resonator performance and quality before manufacturing. This kind of analysis minimizes manufacturing cycles by reducing design time with 3D simulations running on High-Performance Computing (HPC) cloud services. It also enables the identification of manufacturing effects on device performance. The simulation results are compared and validated with a manufactured FBAR device, previously reported, to further highlight the usefulness and advantages of the 3D simulations-based design process. In the 3D simulation results, some analysis challenges, like boundary condition definitions, mesh tuning, loss source tracing, and device quality estimations, were studied. Hence, it is possible to highlight that modern FEM solvers, like OnScale enable unprecedented FBAR analysis and design optimization.

Analysis of vibration response and machining quality of hybrid robot based UD-CFRP trimming

2021 ◽  
pp. 095440542098609
Author(s):  
Yan Zhang ◽  
Hao Li ◽  
Xuda Qin ◽  
Jie liu ◽  
Zhuojie Hou
Keyword(s):  
High Performance ◽  
Vibration Response ◽  
Industrial Robots ◽  
Force Characteristic ◽  
Surface Waviness ◽  
Machined Surface ◽  
Machining Quality ◽  
3D Surface Roughness ◽  
Machined Surface Quality ◽  
Vibration Responses

To fulfill the demands of higher precision, better quality, and more flexibility, the usage of high-performance industrial robots is rapidly increased in aerospace industry. Considering the anisotropic and inhomogeneous characteristics of composite materials, this study focuses mainly on dynamic response investigation of a newly designed hybrid robot (named as TriMule) in CFRP trimming process and its influence on the machined quality. First, combined with the cutting force characteristic, the vibration responses of tool center point (TCP) under the dynamic excitation were obtained. The influences of robotic TCP vibration on machined surface quality with different fiber orientations, including surface waviness, cavity, 3D surface roughness, and depth of affected zone, are first studied by comparing hybrid robot and machine tool. From experiment results, it can be concluded the proposed TCP vibration response model has sufficient prediction accuracy. Meanwhile, it is found that larger robotic vibration response is accompanied by higher surface waviness, bigger surface cavity, and greater affected zone. Results also showed that the fiber orientation and milling style are two essential factors that affect robot vibration and machining quality during CFRP trimming.

scholarly journals Optimization of Dynamic Task Location within a Manipulator’s Workspace for the Utilization of the Minimum Required Joint Torques

Electronics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 288
Author(s):  
Adam Wolniakowski ◽  
Charalampos Valsamos ◽  
Kanstantsin Miatliuk ◽  
Vassilis Moulianitis ◽  
Nikos Aspragathos
Keyword(s):  
High Performance ◽  
Human Robot Interaction ◽  
Optimal Position ◽  
End Effector ◽  
Joint Torques ◽  
Dynamic Task ◽  
Arbitrary Position ◽  
Simulation Results ◽  
Set Up ◽  
Task Placement

The determination of the optimal position of a robotic task within a manipulator’s workspace is crucial for the manipulator to achieve high performance regarding selected aspects of its operation. In this paper, a method for determining the optimal task placement for a serial manipulator is presented, so that the required joint torques are minimized. The task considered comprises the exercise of a given force in a given direction along a 3D path followed by the end effector. Given that many such tasks are usually conducted by human workers and as such the utilized trajectories are quite complex to model, a Human Robot Interaction (HRI) approach was chosen to define the task, where the robot is taught the task trajectory by a human operator. Furthermore, the presented method considers the singular free paths of the manipulator’s end-effector motion in the configuration space. Simulation results are utilized to set up a physical execution of the task in the optimal derived position within a UR-3 manipulator’s workspace. For reference the task is also placed at an arbitrary “bad” location in order to validate the simulation results. Experimental results verify that the positioning of the task at the optimal location derived by the presented method allows for the task execution with minimum joint torques as opposed to the arbitrary position.

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