scholarly journals Structural Design and Material Cutting Using a Laser End Effector on a Robot Arm

TEM Journal ◽  
2020 ◽  
pp. 1455-1459
Author(s):  
Martin Pollák ◽  
Jozef Dobránsky
Keyword(s):  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Control Program ◽  
Soft Materials ◽  
Electrical Circuit ◽  
Simulation Software ◽  
Robot Arm ◽  
Software Environment ◽  
End Effector

The paper deals with the structural design of a laser end effector for the arm of the ABB IRB 140 robot which makes products by the laser cutting technology involving soft materials, such as e.g. paper, wood and others. A laser with a power of 1 W was chosen to carry out the cutting. An electrical circuit with a power supply was created for the selected laser; a control method and a structural design of the jig to be attached to the flange of the robot arm were proposed. Subsequently, the robot control program was connected to the control via a computer and the RoboDK simulation software. The paper describes in more detail the creation of the robot control program and the simulation designed in the simulation software environment, as well as the programming of laser control scripts in Python and in the programming environment of Arduino microcontroller.

The Design of Two-Way Control System of Master-Slave Medical Robot and its Digital Operation Experiment Research

2011 ◽  
Vol 197-198 ◽  
pp. 203-207
Author(s):  
Shi Jie Li ◽  
Ya Rui Zhang ◽  
Hai Xia Bi ◽  
Tie Cheng Wang
Keyword(s):  
Experimental Study ◽  
Control System ◽  
Robot Control ◽  
Control Method ◽  
Organization Design ◽  
Simulation System ◽  
Simulation Software ◽  
Experimental Result ◽  
Experiment Research ◽  
Medical Robot

In recent years, the research on the medical robot's already became a new domain about the robot application, particularly the special medical robot already became a direction of the medical robot develops. This article started with the medical robot organization design, construct the three-dimensionalmodel,designed master-Slave Medical robot control system overall project, determined a new two-way control method of force telepresence, developed Master-Slave medical robot control system's simulation software, and conducted the experimental study, the experimental result showed that this simulation system had the very good timeliness and the accuracy.

scholarly journals A compliant control method for robust trot motion of hydraulic actuated quadruped robot

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881323 ◽  
Author(s):  
Teng Chen ◽  
Xuewen Rong ◽  
Yibin Li ◽  
Chao Ding ◽  
Hui Chai ◽  
...  
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Middle Layer ◽  
Bottom Layer ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Lateral Impact ◽  
Software Environment ◽  
Control Approach ◽  
Active Compliance

A motion control approach is proposed for hydraulic actuated quadruped robots, aiming to achieve active compliance and robust motion control. The approach is designed with a structure of three layers. Servo valve-controlled asymmetric hydraulic cylinder model is established to obtain the relationship between the desired torque and the control current signal, which is the bottom layer. The middle layer is based on the virtual model of the leg for active compliance. The upper layer considers the torso posture and velocity into planning the foot trajectories based on the spring loaded inverted pendulum model. Trotting gait simulations are conducted based on the proposed framework in the simulation software environment Webots. The motion control approach has been implemented on a robot prototype SCalf-II (SDU calf), where experiments have been conducted including omnidirectional trotting gait, lateral impact recovery and climbing slopes. The experiments demonstrate that the proposed approach can effectively control the hydraulic actuated robots.

Robot Manipulator Vibration Resistance Control Based on Physical Model

2020 ◽  
Author(s):  
Ting-Sheng Chen ◽  
Jen-Yuan (James) Chang
Keyword(s):  
Control Method ◽  
Robot Manipulator ◽  
Path Following ◽  
Position Error ◽  
Machining Accuracy ◽  
Robot Arm ◽  
End Effector ◽  
Vibration Resistance ◽  
Mass Spring ◽  
Accuracy And Repeatability

Abstract The overwhelming manufacturing process with robotic arm has replaced human labors in handling and manufacturing work-pieces in factories. In these years, higher accuracy and repeatability are required for robotic manipulators to perform processes such as welding, deburring and grinding in factories. In these path-following processes, the manipulator’s end-effector often encounter position error caused by its vibrating structures. Therefore, the quality of machining accuracy and surface roughness becomes unstable and unsatisfied. For the purpose of avoiding the vibrations to occur in the robotic manipulator, this study aims to design a control method to reduce vibrations which is divided into two parts, namely (1) dynamic modeling the robot arm by applying modified mass-spring-damper model to each joints and links of the robot arm, and (2) realizing the control of the robot arm’s vibration resistance with predicated dynamics to compensate for the undesired dynamics, respectively. Through the proposed model, the response of each joints in different postures and different payloads applied at the end effector can be fully analyzed and the vibrations can be predicted and compensated. Results with the proposed vibration resistance control method indicate improvement of the model robot arm’s dynamic position error.

Collision Avoidance of a Welding Robot for a Large Structure (Application of Human Experience)

2013 ◽  
Vol 7 (1) ◽  
pp. 88-94 ◽  
Author(s):  
Naoki Asakawa ◽  
◽  
Yoshihiro Kanjo ◽  
Keyword(s):  
Collision Avoidance ◽  
Robot Control ◽  
Industrial Robot ◽  
Control Program ◽  
Automatic Generation ◽  
Robot Arm ◽  
Welding Robot ◽  
Large Structure ◽  
Skilled Workers ◽  
Large Structures

The study deals with the automatic generation of a program with collision avoidance for a welding robot for a large structure. An industrial robot used for welding large structures must consider collisions between the tool and workpiece, the robot arm and workpiece, and with surrounding objects. In the study, the experiences of skilled workers are used to consider collision problems while generating a robot control program. Through the experiment, the system was found to have the ability to resolve collision problems.

Design of Three-Wheel Mobile Robot Control System

2012 ◽  
Vol 184-185 ◽  
pp. 1550-1553
Author(s):  
Ying Xu ◽  
Liang Wang ◽  
Jin Tan Duan ◽  
Ying Long Peng
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Motion Control ◽  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Hierarchical Control ◽  
Experimental Tests ◽  
Mobile Robot Control ◽  
Working Principle

The structure and working principle of motion control system for a three-wheel mobile robot was designed in this paper, it make use of hierarchical control method. AT89S52 was selected as core - controller of bottom control system, completing the structural design of the robot, system's hardware and software design. Through experimental tests, the robot motion control meet the intended requirements.

scholarly journals Solution of Bottlenecks in the Logistics Flow by Applying the Kanban Module in the Tecnomatix Plant Simulation Software

2021 ◽  
Vol 13 (14) ◽  
pp. 7989
Author(s):  
Miriam Pekarcikova ◽  
Peter Trebuna ◽  
Marek Kliment ◽  
Michal Dic
Keyword(s):  
Lean Manufacturing ◽  
Business Processes ◽  
Software Tool ◽  
Transportation Systems ◽  
Simulation Software ◽  
Simulation Methods ◽  
Software Environment ◽  
Production Logistics ◽  
Pull System ◽  
Plant Simulation

The presented article deals with the issue of solving bottlenecks in the logistics flow of a manufacturing company. The Tx Plant Simulation software tool is used to detect bottlenecks and deficiencies in the company’s production, logistics and transportation systems. Together with the use of simulation methods and lean manufacturing tools, losses in business processes are eliminated and consequently flow throughput is improved. In the TX Plant Simulation software environment, using Bottleneck analyzer, bottlenecks were defined on the created simulation model and a method of optimizing logistics flows was designed and tested by introducing the Kanban pull system. This resulted in an improvement and throughput of the entire logistics flow, a reduction in inter-operational stocks and an increase in the efficiency of the production system as a whole.

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

Modeling of a Steam Turbine Including Partial Arc Admission for Use in a Process Simulation Software Environment

2011 ◽  
Author(s):  
Eric Liese
Keyword(s):  
Steam Turbine ◽  
Process Simulation ◽  
Process Model ◽  
Constant Pressure ◽  
Pressure Ratio ◽  
Simulation Software ◽  
State Variables ◽  
Steam Turbines ◽  
Software Environment ◽  
Last Stage

A dynamic process model of a steam turbine, including partial arc admission operation, is presented. Models were made for the first stage and last stage, with the middle stages presently assumed to have a constant pressure ratio and efficiency. A condenser model is also presented. The paper discusses the function and importance of the steam turbines entrance design and the first stage. The results for steam turbines with a partial arc entrance are shown, and compare well with experimental data available in the literature, in particular, the “valve loop” behavior as the steam flow rate is reduced. This is important to model correctly since it significantly influences the downstream state variables of the steam, and thus the characteristic of the entire steam turbine, e.g., state conditions at extractions, overall turbine flow, and condenser behavior. The importance of the last stage (the stage just upstream of the condenser) in determining the overall flowrate and exhaust conditions to the condenser is described and shown via results.

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