Energy-Saving High-Speed Pick-and-Place Robot Using In-Frame Parallel Spring

2015 ◽  
Vol 27 (3) ◽  
pp. 267-275
Author(s):  
Jumpei Arata ◽  
◽  
Yuji Isogai ◽  
Junya Sumida ◽  
Masamichi Sakaguchi ◽  
...  
Keyword(s):  
Energy Saving ◽  
High Speed ◽  
Supply And Demand ◽  
Industrial Applications ◽  
Spring Steel ◽  
Industrial Robots ◽  
Global Issues ◽  
Pick And Place ◽  
Acceleration And Deceleration ◽  
Robotic Instruments

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/06.jpg"" width=""340"" />Concept prototype</div> Robotic instruments have recently been widely introduced into industrial automation. As energy supply and demand have become global issues, energy saving in industrial robots has become urgent. In general industrial pick-and-place robots, servomotors periodically repeat acceleration and deceleration, consequently lose much energy in motion. We propose a mechanism using an in-frame parallel spring for the pick-and-place robot. During motion, spring blades deform and store energy, then release it as energy of motion, enabling the mechanism to recycle energy that have been lost in conventional mechanisms. In this paper, a 1 DOF proof-of-concept prototype and preliminary feasibility tests are described. In this study, we applied in-frame parallel springs to a mechanism for pick-and-place robot. The parallel springs are fabricated from spring steel SK85M (Young’s modulus: 210 GPa) with 252 mm long, 50 mm wide and 0.3 mm thick. The results suggest that the prototype can achieve a repeated motion with the range of ±145.7 mm in 2.56 Hz by 1.17 W, greatly reduced from that of the the traditional mechanisms. In addition, it is desired to stop the robot immediately in regular motion if anomalies occurred in industrial applications. The prototype showed that an immediate stop in 0.6 s was feasible by dissipating elastic energy stored in spring blades, confirming the feasibility of our proposed mechanism.

Asymmetric Arm Design on Delta Robot System

2014 ◽  
Author(s):  
Tsung-Liang Wu ◽  
Jih-Hsiang Yeh ◽  
Cheng-Chen Yang
Keyword(s):  
Energy Saving ◽  
High Speed ◽  
Kinematic Model ◽  
Industrial Applications ◽  
Critical Parameters ◽  
Robot System ◽  
System Cost ◽  
Excited Vibration ◽  
Pick And Place ◽  
Delta Robot

The Delta robot system is widely used in high speed (4 cycles/s at 25-200-25 mm) pick-and-place process in production line. Some industrial applications include photo-voltaic (PV), food process, and electronic assembly, and so on. The energy saving and system cost are two critical parameters for designing the next generation of pick-and-place system. To achieve these goals, a light-weight moving structure with sufficient strength to overcome the excited vibration will be one of the solutions. In this paper, an asymmetric arm design is proposed and fabricated to gain the benefit of strength-to-weight. The asymmetric arm is designed by reinforcing a specific direction and is validated the vibration suppression capability both by simulation and experiment. A position controller that is derived from the kinematic model of Delta robot is utilized to manipulate the robot under a forward-backward motion with a polynomial trajectory with 200 mm displacement. The residual vibration, then, was measured after the forward-backward motion to compare the settling performance between symmetric- and asymmetric-arms on the Delta robot system, respectively. The results conclude as following: (1) The asymmetric arms perform slightly worse (0.03 sec more in settling time) than symmetric arm but there is 15% weight reducing comparing to symmetric arm. (2) Both energy saving and system cost reducing would be achieved by utilizing actuators with lower power consumption and fabrication on carbon fiber arms with mass customization.

Computer Aided Synthesis of Adjustable Robotic Mechanisms

1994 ◽  
Author(s):  
Thatchai Chuenchom ◽  
Sridhar Kota
Keyword(s):  
High Speed ◽  
Low Cost ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Middle Ground ◽  
Pick And Place ◽  
Computer Aided

Abstract Conventional hard automation such as linkage mechanisms or cam-driven mechanisms provide high speed capability at a low cost (using typically one actuator), but fail to provide the flexibility required in many industrial applications. Manufacturers are increasingly turning to multi-axis robots to fulfill flexibility demands. In many cases, however, the flexibility requirements are limited; i.e. a given pick-and-place unit may be required to perform only a handful of different operations. Therefore, the expensive robots are under-utilized. By incorporating flexibility in conventional linkage-type mechanisms, we are developing adjustable robotic mechanisms (ARMs) to serve as a middle ground between hard automation and overly flexible serial-jointed industrial robots.

A Comparative Study on the Pick-and-Place Trajectories for a Delta Robot

2016 ◽  
Author(s):  
Zexiao Xie ◽  
Peixin Wu ◽  
Ping Ren
Keyword(s):  
Comparative Study ◽  
High Speed ◽  
Computation Time ◽  
Optimization Methods ◽  
Terminal State ◽  
Industrial Robots ◽  
Piecewise Polynomials ◽  
Pick And Place ◽  
Dynamic Performances ◽  
Delta Robot

A comparative study on the pick-and-place trajectories for high-speed Delta robots is presented in this paper. The Adept Cycle has been widely accepted as a standardized pick-and-place trajectory for industrial robots. The blending curves and optimization methods to smooth this trajectory are briefly surveyed. Three major types of trajectories: Lamé curves, clothoids and piecewise polynomials, are selected as candidates to be compared. The processes to generate these trajectories are briefly reviewed. The trajectories are firstly compared in term of their computation time. Then, based on a dynamic model and an experimental prototype of the Delta robot, different combinations of the geometric paths and motion profiles are compared in terms of power consumption, terminal state accuracy and residual vibration. The effects of trajectory configurations and parameters on the robot’s dynamic performances are investigated. Through a comprehensive analysis on both simulation and experimental results, a near-optimal pick-and-place trajectory for the Delta robot is identified and validated.

scholarly journals Efficiency Comparison between Robotic Manipulator Configurations for Trajectory/Path Tracing

2020 ◽  
Vol 10 (11) ◽  
pp. 56-60
Author(s):  
Joshua Laber ◽  
◽  
Ravindra Thamma
Keyword(s):  
Global Economy ◽  
High Speed ◽  
Industrial Robots ◽  
Robotic Arm ◽  
Manufacturing Companies ◽  
Robotic Arms ◽  
Repetitive Tasks ◽  
Pick And Place ◽  
Efficiency Comparison ◽  
Speed And Accuracy

In automation, manufacturing companies require high speed and efficiency to remain competitive in the global economy. One of the most popular ways to increase precision, speed, and accuracy is to implement industrial robotic arms. As of 2020, 2.7 million industrial robots are in operation worldwide. A robotic arm is a machine used to automatic repetitive tasks by manipulating tools or parts in the space around it. Businesses use robotic arms for many operations including pick and place, machining, welding, precision soldering, and other tasks. But with all the different types and configurations of robotic arms, the question remains: What arm would best suit the task at hand? This paper examines and compares three commonly available types of robotic arm: 5-DoF, 6-DoF, and SCARA to compare which are most efficient in tracing paths.

Energy Saving for Gantry-Type Feed Drives by Synchronous and Contouring Control

2012 ◽  
Vol 6 (3) ◽  
pp. 363-368 ◽  
Author(s):  
Naoki Uchiyama ◽  
◽  
Yuki Ogawa ◽  
Shigenori Sano
Keyword(s):  
Energy Saving ◽  
Machine Tools ◽  
High Speed ◽  
Controller Design ◽  
Mechanical Damage ◽  
Electrical Energy ◽  
Industrial Applications ◽  
Feed Drives ◽  
Contouring Control ◽  
Synchronous Error

Because feed drives are widely used day and night in industrial applications such as machine tools and coordinated measuring machines all over the world, not only high-speed and high-precision control but also consumed energy saving is required. This paper presents a controller design to reduce consumed energy for gantry-type feed drives that consist of two linear actuators placed in parallel and one linear actuator placed perpendicular to the two parallel actuators. The proposed design is based on synchronous and contouring controllers. The synchronous controller has been studied for reducing synchronous error between two parallel actuators that causes significant mechanical damage, and the contouring controller has been developed for improving contouring performance, especially in machining applications. Experimental results demonstrate the effectiveness of the proposed controller, which reduces consumed electrical energy by about 10%.

scholarly journals Application of Multi-Descriptor Binary Shape Analysis for Classification of Electronic Parts

2020 ◽  
Vol 26 (4) ◽  
pp. 479-495
Author(s):  
Kamil Maliński ◽  
Krzysztof Okarma
Keyword(s):  
Shape Analysis ◽  
High Speed ◽  
Printed Circuit Boards ◽  
Industrial Applications ◽  
Electronic Packages ◽  
Circuit Boards ◽  
Small Surface ◽  
Pick And Place ◽  
Electronic Parts

Rapid growth of availability of modern electronic and robotic solutions, also for home and amateur use, related to the progress in home automation and popularity of the IoT systems, makes it possible to develop some unique hardware solutions, also by independent researchers and engineers, often with the help of the 3D printing technology. Although in many industrial applications high speed pick and place machines are used for assembling small surface-mount devices (SMD), especially in mass production of electronic parts, there are still some applications, where the traditional through-hole technology used in Printed Circuit Boards (PCB) is utilised, particularly considering some mechanical, thermal or power conditions, preventing the use of the SMD technology. One of the possibilities of supporting such types of production and prototyping, in some cases supported by relatively less sophisticated robotic solutions, may be the application of vision systems, making it possible to classify and recognize some electronics parts with the use of shape analysis of their packages as well as further optical recognition of markings. Another application of such methods may be related to the automatic vision based verification of the assembling quality and correctness of the placement of electronic parts after completing the production. In the paper some experimental results, obtained using various shape descriptors for the classification of electronic packages, are presented. The initial experiments, obtained for a prepared dedicated database of synthetic images, have been verified and confirmed also for some natural images, leading to promising results.

scholarly journals X-ray Determination of Compressive Residual Stresses in Spring Steel Generated by High-Speed Water Quenching

Materials ◽  
2019 ◽  
Vol 12 (7) ◽  
pp. 1154
Author(s):  
Diego E. Lozano ◽  
George E. Totten ◽  
Yaneth Bedolla-Gil ◽  
Martha Guerrero-Mata ◽  
Marcel Carpio ◽  
...  
Keyword(s):  
Heat Treatment ◽  
Residual Stresses ◽  
High Speed ◽  
Spring Steel ◽  
X Ray Diffraction ◽  
Laboratory Equipment ◽  
X Ray ◽  
Water Chamber ◽  
Hardened Case ◽  
Compressive Residual Stresses

Automotive components manufacturers use the 5160 steel in leaf and coil springs. The industrial heat treatment process consists in austenitizing followed by the oil quenching and tempering process. Typically, compressive residual stresses are induced by shot peening on the surface of automotive springs to bestow compressive residual stresses that improve the fatigue resistance and increase the service life of the parts after heat treatment. In this work, a high-speed quenching was used to achieve compressive residual stresses on the surface of AISI/SAE 5160 steel samples by producing high thermal gradients and interrupting the cooling in order to generate a case-core microstructure. A special laboratory equipment was designed and built, which uses water as the quenching media in a high-speed water chamber. The severity of the cooling was characterized with embedded thermocouples to obtain the cooling curves at different depths from the surface. Samples were cooled for various times to produce different hardened case depths. The microstructure of specimens was observed with a scanning electron microscope (SEM). X-ray diffraction (XRD) was used to estimate the magnitude of residual stresses on the surface of the specimens. Compressive residual stresses at the surface and sub-surface of about −700 MPa were obtained.

scholarly journals Evolution Mechanisms of MgO·Al2O3 Inclusions by Cerium in Spring Steel Used in Fasteners of High-speed Railway

2015 ◽  
Vol 55 (5) ◽  
pp. 970-975 ◽  
Author(s):  
Li Jun Wang ◽  
Yan Qiang Liu ◽  
Qi Wang ◽  
Kuo Chih Chou
Keyword(s):  
High Speed ◽  
Spring Steel ◽  
High Speed Railway

Research on the Performance Simulation of the Transmission System of Loader with Secondary Regulating Technique

2010 ◽  
Vol 426-427 ◽  
pp. 299-302
Author(s):  
Fa Ye Zang
Keyword(s):  
Mathematical Model ◽  
Fuzzy Control ◽  
Energy Saving ◽  
High Speed ◽  
Transmission System ◽  
Performance Simulation ◽  
Constant Torque ◽  
Braking Torque ◽  
The Mathematical Model ◽  
Inertial Energy

Based on deeply analyzing the working principles and energy-saving theory of loader secondary regulating transmission system, regenerating the transmission system’s inertial energy by controlling constant torque was put forward. Considering large changes of the parameters of the transmission system and its non-linearity, a fuzzy control was adopted to control the transmission system, and the mathematical model of the system was established, then the simulations of the performance of the transmission system has been conducted. The conclusion was made that the inertial energy can be reclaimed and reused in the system by the application of the secondary regulation technology, and braking by controlling constant torque is stable, it can ensure the security of braking at high speed and also permits changing the efficiency of recovery by changing the braking torque. The system’s power has been reduced and energy saving has been achieved.

Development of six-DOF welding robot with machine vision

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1840079
Author(s):  
Wensheng Huang ◽  
Hongli Xu
Keyword(s):  
Machine Vision ◽  
High Speed ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Target Location ◽  
Industrial Robots ◽  
Welding Robot ◽  
Edge Pixel ◽  
Six Dof ◽  
Hardware Processing

The application of machine vision to industrial robots is a hot topic in robot research nowadays. A welding robot with machine vision had been developed, which is convenient and flexible to reach the welding point with six degrees-of-freedom (DOF) manipulator, while the singularity of its movement trail is prevented, and the stability of the mechanism had been fully guaranteed. As the precise industry camera can capture the optical feature of the workpiece to reflect in the camera’s CCD lens, the workpiece is identified and located through a visual pattern recognition algorithm based on gray scale processing, on the gradient direction of edge pixel or on geometric element so that high-speed visual acquisition, image preprocessing, feature extraction and recognition, target location are integrated and hardware processing power is improved. Another task is to plan control strategy of control system, and the upper computer software is programmed in order that multi-axis motion trajectory is optimized and servo control is accomplished. Finally, prototype was developed and validation experiments show that the welding robot has high stability, high efficiency, high precision, even if welding joints are random and workpiece contour is irregular.

Sign in / Sign up

Export Citation Format

Share Document