scholarly journals Torque Measurement of High-Precision Reducer for Industrial Robot

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Zhen Yu ◽  
Yuan Zhang
Keyword(s):  
High Precision ◽  
Measurement System ◽  
Measurement Errors ◽  
Industrial Robot ◽  
Industrial Robots ◽  
System Structure ◽  
Torque Measurement ◽  
Accuracy Measurement ◽  
Input And Output

Torque testing is crucial to improve the quality of high-precision reducers—the core component of industrial robots. Herein, a torque-measurement system for a novel vertical measuring instrument is designed. The distance from the torque transducers to the robot reducer is minimized to ensure the shortest measurement chain. The symmetrical system structure improves the overall rigidity, and error compensation can be performed easily. The characteristics of the torque measurement errors due to shaft bending and torsional deformations were also analyzed. A torque calibrator comprising two high-precision torque output systems was used to calibrate torque transducers in the measurement system. Reasonable and practical compensation models based on a backpropagation neural network were developed to accurately obtain the input and output torques of the reducer. As the torque-measurement precision of the reducer detector reached 0.1% over the entire torque range, the instrument can be used for accuracy measurement of the input and output torques of the robot reducer.

scholarly journals Diagnosis of the Misaligned Faults of the Vertical Test Instrument of High-Precision Industrial Robot Reducer

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Zhen Yu ◽  
Yuan Zhang
Keyword(s):  
High Precision ◽  
Industrial Robot ◽  
Performance Testing ◽  
Rotation Frequency ◽  
Torque Ripple ◽  
Industrial Robots ◽  
Rotating Machine ◽  
Torque Transducer ◽  
Misalignment Fault ◽  
The Relationship

High-precision reducer is the core component of industrial robots. In order to achieve the comprehensive performance testing of precision reducers, an instrument with a vertical layout and a cylindrical structure is designed. As a rotating machine, the inevitable coupling misalignment of the instrument can lead to vibration faults which lead to errors in the test. So it is pretty necessary to diagnose and monitor the coupling misalignment while the instrument is working. The causes of the coupling misaligned fault of the instrument and the relationship between the misalignment fault and torque ripple are analyzed in this paper. A method of using the torque transducer in the measurement chain of the instrument to diagnose the coupling misalignment is proposed in this paper. Many experiments have been done to test the capability of detecting the coupling misalignment using this method. Experimental results show that the amplitude of torque ripple of the shaft is linearly related to the coupling misalignment and is quadratically related to the rotation speed of the shaft when the misalignment exists in the shaft. The combination of components at the rotation frequency (fr) and the additional components can be used to diagnose faults due to coupling misalignment.

scholarly journals The future of industry with collaborative robots

2019 ◽  
Vol 299 ◽  
pp. 02008 ◽  
Author(s):  
Miriam Matúšová ◽  
Marcela Bučányová ◽  
Erika Hrušková
Keyword(s):  
Quality Of Life ◽  
Production Process ◽  
Large Range ◽  
Industrial Robot ◽  
Industrial Robots ◽  
User Requirements ◽  
Collaborative Robots ◽  
The Future ◽  
Collaborative Robot

Rapidly changing user requirements, improving of quality of life or increased safety at work are allarguments for introducing flexible automation that replaces strenuous or dangerous work. Industrial robots with adaptive directing are now deployed to most industries due to their large range of uses. Theirmain addition for manufacturing is to eliminate downtime of complete operating and manipulating production process, to make easier all particular operation in accordance with ergonomics. The paper describescomparing between conventional industrial robot and collaborative robot.

A direct approach to modeling an industrial robot from samples of input-output data

Robotica ◽  
1984 ◽  
Vol 2 (3) ◽  
pp. 161-167 ◽  
Author(s):  
Ajit M. Karnik ◽  
Naresh K. Sinha
Keyword(s):  
Control Systems ◽  
Direct Method ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Continuous Time Model ◽  
Output Data ◽  
Time Model ◽  
System A ◽  
Input And Output ◽  
A Direct Method

SUMMARYThe increased demand on the performance and efficiency of industrial robots, has led to the design of sophisticated control systems. Such control systems require an accurate dynamic model of the system. A commonly used method of modeling an industrial robot, involves the description of a set of dynamic equations, relating actuator torques to loads and accelerations. These equations are generally quite complex and inconvenient for implementation on digital computers.Another method often used for identification, is the ‘indirect method’, in which the transfer function is obtained in two steps. The discrete time model is first derived from samples of the input and output measurements, which is then transformed to the continuous-time model. A limitation of this method is that it requires the excitation to be of the ‘persistently exciting’ type, thus precluding the application of simple inputs like the step signal.This paper describes a ‘direct’ method for identification of an ‘industrial robot’ from samples of input and output observations. Results of modeling an industrial robot and two simulations are presented. One of the simulations, and the industrial robot uses the step input as excitation. The other example was excited with an exponential input.

Fast sensor guidance of industrial robots – experimental results

Robotica ◽  
1999 ◽  
Vol 17 (1) ◽  
pp. 17-21
Author(s):  
Klaus Feldmann ◽  
Matthias Wenk ◽  
Josef Zeller
Keyword(s):  
Position Control ◽  
Industrial Robot ◽  
Design Tool ◽  
Industrial Robots ◽  
Experimental Results ◽  
Sensor Data ◽  
Processing Technologies ◽  
Control Loops ◽  
Sensor Control

For securing and increasing the quality of various material processing technologies a flexible sensor data integration is indispensable. Hence, a powerful and configurable sensor-robot-system was designed and implemented, integrating sensor data into industrial robot controls within the interpolation or the position control clock rate. Different controllers were designed and the system responses of the control loops were simulated and optimized by an efficient control design tool. Experimental results on the achievable path accuracy are presented. Finally, some application for the developed sensor control loops are introduced.

scholarly journals Design and implementation of a diagnostic system for measuring high-precision reducers

2021 ◽  
Vol 1199 (1) ◽  
pp. 012069
Author(s):  
M Kočiško ◽  
M Pollák ◽  
A Vodilka ◽  
D Paulišin
Keyword(s):  
High Precision ◽  
Diagnostic System ◽  
Industrial Robots ◽  
Production Costs ◽  
Human Power ◽  
Transmission Errors ◽  
Design And Implementation ◽  
Robotic Joints ◽  
Positive Properties

Abstract At present, the industry is in a phase where there is an effort to maximize the automation of production processes. In many places, human power is being replaced by automated machines and industrial robots. Automation makes it possible to increase work efficiency, significantly reduce production costs and also increase the quality of the final product. A precondition for increasing the quality of production is to achieve high accuracy of specialized machines and industrial robots, resp. the accuracy of positioning of individual parts. Due to the drive system and the achieved speed, the gear unit includes a gearbox. Reducers used in robotic joints are the most complex subsystems of robots. For very precise applications, the designers will reach for the so-called backlash-free reducers for their characteristic properties (minimum values of backlash in teeth, angular transmission errors, hysteresis and others). Despite many positive properties, high-precision reducers also show their characteristic nonlinearities, which influence the behavior of the whole system and it is so important to know their behavior. Given these facts, this article deals with the design and implementation of mechatronic diagnostic equipment for the identification of nonlinearities, static and dynamic parameters, vibrodiagnostic measurements and measurements of the efficiency of bearing reducers.

scholarly journals Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Maksim N. Nevmerzhitskiy ◽  
Boris S. Notkin ◽  
Andrey V. Vara ◽  
Konstantin V. Zmeu
Keyword(s):  
Experimental Study ◽  
Axial Load ◽  
Industrial Robot ◽  
Friction Model ◽  
Temperature Correction ◽  
Friction Torque ◽  
Temperature Factor ◽  
Industrial Robots ◽  
Temperature Fields

The quality of industrial robots essentially depends on the properties of their kinematic couples. This research has involved conducting an experimental study of the friction torque in a joint of the KUKA KR10 industrial robot and building its model. It has been established that the largest impact on friction in the joint is caused by its axial load and velocity, as well as the temperature of the mechanism, which is generally not homogeneous. It is not possible to measure temperature fields in the joints of a serial industrial robot directly. This study has set forth a method to estimate friction torque taking into account the temperature factor indirectly. For this, we have used the motor temperature available for measuring in combination with special periodical motions, performed by the robot, during which we estimated the actual friction torque in the joint and calculated a temperature correction based on our findings.

Design and performance analysis of an industrial robot arm for robotic drilling process

2019 ◽  
Vol 46 (1) ◽  
pp. 7-16 ◽  
Author(s):  
Longfei Sun ◽  
Fengyong Liang ◽  
Lijin Fang
Keyword(s):  
Control Method ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Ball Screw ◽  
Robotic Arm ◽  
Drilling Process ◽  
Robot Arm ◽  
Content Type ◽  
Robotic Drilling

Purpose The purpose of this paper is to present a robotic arm that can offer better stiffness than traditional industrial robots for improving the quality of holes in robotic drilling process. Design/methodology/approach The paper introduces a five-degree of freedom (DOF) robot, which consists of a waist, a big arm, a small arm and a wrist. The robotic wrist is composed of two DOFs of pitching and tilting. A parallelogram frame is used for robotic arms, and the arm is driven by a linear electric cylinder in the diagonal direction. Double screw nuts with preload are used in the ball screw to remove the reverse backlash. In addition, dual-motor drive is applied for each DOF in the waist and the wrist to apply anti-backlash control method for eliminating gear backlash. Findings The proposed robotic arm has the potential for improving robot stiffness because of its truss structure. The robot can offer better stiffness than industrial robots, which is beneficial to improve the quality of robotic drilling holes. Originality/value This paper includes the design of a five-DOF robot for robotic drilling tasks, and the stiffness modeling of the robot is presented and verified by the experiment. The robotic system can be used instead of traditional industrial robots for improving the hole quality to a certain extent.

On-line self-calibration method for unattended manipulators based on Gaussian motion model and visual system

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ruolong Qi ◽  
Yuangui Tang ◽  
Ke Zhang
Keyword(s):  
Visual System ◽  
High Precision ◽  
Measurement Errors ◽  
Structural Parameters ◽  
Space Station ◽  
Calibration Method ◽  
Nuclear Industry ◽  
Industrial Robots ◽  
Content Type ◽  
On Line

Purpose For some special manipulators such as the ones work at the space station, nuclear or some other unmanned environments, the overload, collision, vibration, temperature change or release of the internal stress would affect the structural parameters. And thus the operation precision might constantly decrease in long-term use. In these unmanned environments, the unattended manipulators should calibrate itself when they execute high precision operations or proceed self-maintenances. The purpose of this paper is to propose an automatic visual assistant on-line calibration (AVOC) method based on multi-markers. Design/methodology/approach A camera fixed on the end of the manipulator is used to measure one to three identification points, which forms an unstable multi-sensor eye-in-hand system. A Gaussian motion method which combines the linear quadratic regulator control and extended Kalman filter together is proposed to make the manipulator track the planned trajectories when its inaccurate structural parameters form uncertain motion errors. And a Monte-Carlo method is proposed to form a high precision and stable signal acquisition when the visual system has measurement errors and intermittent signal feedback. An automatic sampling process is adopted to select the optimal measurement points basing on their variances. Findings Data analysis and experiment results prove the efficiency and feasibility of the method proposed in this paper. With this method, the positioning accuracy is largely promoted from about 2 mm to 0.04–0.05 mm. Originality/value Experiments were carried out successfully on a manipulator in a life sciences glove box that will work at the Chinese space station. It is a low cost and efficient manipulator calibration method. The whole autonomic calibration process takes less than 10 min and requires no human intervention. In addition, this method not only can be used in the calibration of other unmanned articulated manipulator that works in deep ocean, nuclear industry or space but also be useful for the maintenance work in modern factories owing a lot of industrial robots.

scholarly journals CRITERIA AND MODEL OF CHOICE OF INDUSTRIAL ROBOT

2021 ◽  
Vol 1 (92) ◽  
pp. 109
Author(s):  
Yuri Petrenko ◽  
Ruslan Posukan
Keyword(s):  
Mathematical Model ◽  
Computer Technology ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Decision Methods ◽  
Increase Productivity ◽  
Robot Selection ◽  
The Mathematical Model ◽  
Selection Of

Problem. The relevance of the work is to increase the efficiency of robotics in Ukraine based on the development of computer technology for the selection of industrial robots for the enterprise, which will improve the quality of robot selection and increase productivity in all industries. Goal. Substantiate the criteria and develop the mathematical model for the selection of an industrial robot. The proposed mathematical model will allow the development of computer technology for the selection of industrial robots for the enterprise. Methodology. This work gives the analysis of the development of robotics in Ukraine, theoretical material on industrial robots, substantiated the criteria for the selection of industrial robots, the developed mathematical model for the selection of robots. Results. The developed criteria and mathematical model of an industrial robot selection allow making scientifically substantiated decisions on the acquisition of an industrial robot by an enterprise according to many criteria. This will reduce the time and cost of making a decision. Originality. Was received further development of making decision methods according to many criteria an was developed the mathematical model of the industrial robot selection. Practical value. The proposed mathematical model will allow the development of computer technology for the selection of industrial robots for the enterprise. This will reduce spent time and money to choose a robot.

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