Development of the Industrial Robot Electric Drive Model

2021 ◽  
Vol 64 (6) ◽  
pp. 52-57
Author(s):  
Konstantin Litsin ◽  
◽  
Sergei Baskov ◽  
Yaroslav Makarov ◽  
◽  
...  
Keyword(s):  
Electric Drive ◽  
Robot Manipulator ◽  
Block Diagram ◽  
Industrial Robot ◽  
Permanent Magnet Synchronous Motor ◽  
Industrial Robots ◽  
Full Turn ◽  
Position Controller ◽  
Power Part ◽  
The Cost

Currently, the penetration of industrial robots into all sectors of the economy is increasing. However, there is an acute problem of conducting preliminary tests. The use of the digital twin as a replacement for the industrial robot is driven by high economic costs. In order to reduce the cost of the project, a solution is proposed to conduct preliminary tests on the developed model. The article developed a mathematical model of one of the drives of the industrial robot manipulator Yaskawa Motoman MH50-35. The model is suitable for researching the movement of the robot' tool. A mathematical description of a permanent magnet synchronous motor SGMJV-09A in a rotating coordinate system is given and a block diagram of the power part of the drive is made. A system for regulating the position of the robot's tool with a nonlinear position controller has been synthesized. Based on the results of modeling the operation of an electric drive in the Matlab Simulink environment, the degree of correspondence of the developed model to a real object was assessed and conclusions were drawn about the limits of its applicability for studying the operation of an electric drive of a robotic arm. The accuracy of working out the task for turning the wrist is 0.0001 rad, there is no overshoot in position, and the time for completing a full turn of the tool is 1.07 s.

scholarly journals Dynamic Model Identification for 6-DOF Industrial Robots

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Li Ding ◽  
Hongtao Wu ◽  
Yu Yao ◽  
Yuxuan Yang
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Model Identification ◽  
Friction Model ◽  
Industrial Robots ◽  
Parameters Identification ◽  
Identification Algorithm ◽  
Unknown Parameters ◽  
Joint Friction ◽  
Dynamical Parameters

A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented. The system model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments are carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal trajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we validate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency of our proposed identification algorithm and the accuracy of the identified robot model.

Practical application of a safe human-robot interaction software

2020 ◽  
Vol 47 (3) ◽  
pp. 359-368 ◽  
Author(s):  
Mustafa Can Bingol ◽  
Omur Aydogmus
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Wavelet Packet ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Robot Interaction ◽  
Content Type ◽  
Depth Sensors ◽  
Working Space ◽  
Vision Module

Purpose Because of the increased use of robots in the industry, it has become inevitable for humans and robots to be able to work together. Therefore, human security has become the primary noncompromising factor of joint human and robot operations. For this reason, the purpose of this study was to develop a safe human-robot interaction software based on vision and touch. Design/methodology/approach The software consists of three modules. Firstly, the vision module has two tasks: to determine whether there is a human presence and to measure the distance between the robot and the human within the robot’s working space using convolutional neural networks (CNNs) and depth sensors. Secondly, the touch detection module perceives whether or not a human physically touches the robot within the same work environment using robot axis torques, wavelet packet decomposition algorithm and CNN. Lastly, the robot’s operating speed is adjusted according to hazard levels came from vision and touch module using the robot’s control module. Findings The developed software was tested with an industrial robot manipulator and successful results were obtained with minimal error. Practical implications The success of the developed algorithm was demonstrated in the current study and the algorithm can be used in other industrial robots for safety. Originality/value In this study, a new and practical safety algorithm is proposed and the health of people working with industrial robots is guaranteed.

scholarly journals Determination of the positioning accuracy of industrial manipulators using a digital photo/video camera

2019 ◽  
Vol 23 (3) ◽  
pp. 42-48
Author(s):  
N. V. Norkina ◽  
F. A. Mevis
Keyword(s):  
Measuring Equipment ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Measuring System ◽  
Light Sources ◽  
Positioning Accuracy ◽  
Digital Photo ◽  
Positioning Errors ◽  
Point Light

Purpose of research. The aim of the study is to develop a system for the analysis and evaluation of positioning errors manipulators precision industrial robots used in the production of microelectronic equipment. The positioning accuracy of the manipulator varies depending on the operating modes of the robot and is difficult to predict and difficult to analyze. The accuracy of positioning is influenced by the design features of the robot manipulator, the speed of movement and rotation of the manipulator, intermediate stops and accelerations, vibrations, both own and caused by the location of the robot in production. The positioning accuracy may differ for different points of the robot working area. We need a system of analysis and error estimation that allows us to effectively carry out a series of hundreds and thousands of measurements. One of the promising areas is the use of digital technology with subsequent processing of data on the computer. Materials and methods of research. The construction of effective robotic systems depends on the correct implementation of the certification of industrial robots in order to provide control systems of industrial robots with accurate data for trouble-free and correct operation in conditions specific to a particular production. The solution of the complex problem of certification of precision industrial robots faces difficulties in the selection of measuring equipment. Studies have been conducted aimed at the formation of point light sources of small diameter. A non-contact measurement method based on obtaining an image of point light sources using a digital photo/video camera is proposed. Application of point light sources for calibration of measuring system is described. Possibilities of specification of positions of point sources by means of computer processing of the images received from the digital camera were investigated. The algorithm of image processing of the camera carrying out in several stages definition of accuracy of positioning of the manipulator of the robot is offered.Results. A remote, non-contact method for measuring the positioning errors of industrial robot manipulators has been developed. A method of assessing the positioning accuracy of industrial robot manipulators based on specially formed point light sources installed in the grips of the manipulators and in the working area of the robot. Implemented the use of digital photo/video cameras for monitoring and fixing the space of the resulting spread of the manipulator positions. The software processing the digital image and allowing to make calculations of an error of positioning is developed. The method makes it possible to effectively carry out large series of measurements and meets the following parameters: the absence of physical points of contact between the measuring system and the robot manipulator, satisfying the accuracy of measurements, ease of operation with measuring equipment, low cost of measuring equipment. The work was presented at the XLV International youth scientific conference Gagarin readings, MATI, Moscow, Russia, 2019. and was awarded a diploma. Conclusion. The article presents the results of research on the development of non-contact system of analysis and evaluation of positioning errors of precision industrial robots. The obtained results can be used for certification of industrial robots. It is possible to control the positioning accuracy of manipulators without removing the robot from the production process. 

Evaluation and Optimization of Industrial Robot Families Using Different Kinematic Measures

2009 ◽  
Author(s):  
Xiaolong Feng ◽  
Bo Holmgren ◽  
Johan O¨lvander
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Product Family ◽  
Industrial Robots ◽  
Design Criteria ◽  
Mathematical Framework ◽  
Serial Robot ◽  
Object Of Study ◽  
Kinematic Measures ◽  
Common Platform

In this paper, overall manipulability measure and stroke of workspace are proposed and evaluated as design criteria for optimal kinematics design of a family of industrial robots. The object of study is a 6 degree of freedom serial robot manipulator where individual family members (robots) share arms from a common platform. The paper presents a formal mathematical framework where the product family design problem is stated as an optimization problem and where optimization is used to find an optimal product family. The paper illustrates how the proposed kinematic design criteria may be used to support the optimal kinematics design of a family of industrial robots, and it also visualizes the tradeoff between the size of the common platform and the kinematics performance of individual robots.

scholarly journals Experimental studies of robotic assembly of precision parts

2021 ◽  
Vol 49 (1) ◽  
pp. 44-55
Author(s):  
Mikhail Polishchuk ◽  
M. Tkach
Keyword(s):  
High Speed ◽  
Industrial Robot ◽  
Economic Effect ◽  
Experimental Studies ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Positioning Accuracy ◽  
Position Correction ◽  
The Cost

At present, robotization of assembly processes is achieved through the use of industrial robots with high positioning accuracy in conjunction with tactile means of adaptation to the conditions of assembly of precision parts. The cost of such robots is many times higher than the cost of simple robots with low positioning accuracy of the robot arm. The research in this article is aimed at reducing the cost of assembly processes for precision parts by applying the position correction of the connected parts not by the robot hand, but by an additional technological module that is installed on the manipulator of a simple robot and performs high-speed stochastic mismatch scan of assembly objects. The article presents the results of a full factorial experiment of the process of joining precision cylindrical parts with a gap of no more than 3...5 microns. A regression model of this process is proposed, a formula for calculating the quasi-optimal modes of precision assembly and graphanalytical dependences of the assembly time on the scanning modes of the misalignment of assembly objects are given. The proposed high-speed method for compensating for the positioning error of an industrial robot makes it possible to assemble precision parts in a very short time within 1...3(s). The main economic effect of the research results is that the device for scanning the misalignment of assembly objects, which is installed on the arm of an inexpensive robot with a low positioning accuracy, can significantly increase the assembly speed and reduce capital investments in robotic assembly of high-precision parts.

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.

A Polishing Robot Force Control System Based on Time Series Data in Industrial Internet of Things

2021 ◽  
Vol 21 (2) ◽  
pp. 1-22
Author(s):  
Chen Zhang ◽  
Zhuo Tang ◽  
Kenli Li ◽  
Jianzhong Yang ◽  
Li Yang
Keyword(s):  
Time Series ◽  
Control System ◽  
Force Control ◽  
Time Series Data ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Series Data ◽  
Industrial Internet Of Things ◽  
Industrial Internet ◽  
Force Control System

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.

scholarly journals Comparative Analysis of the Life-Cycle Cost of Robot Substitution: A Case of Automobile Welding Production in China

Symmetry ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 226
Author(s):  
Xuyang Zhao ◽  
Cisheng Wu ◽  
Duanyong Liu
Keyword(s):  
Life Cycle ◽  
Systems Engineering ◽  
Life Cycle Cost ◽  
Manufacturing Systems ◽  
Large Scale ◽  
Cost Allocation ◽  
Industrial Robot ◽  
Case Analysis ◽  
Industrial Robots ◽  
Analysis Model

Within the context of the large-scale application of industrial robots, methods of analyzing the life-cycle cost (LCC) of industrial robot production have shown considerable developments, but there remains a lack of methods that allow for the examination of robot substitution. Taking inspiration from the symmetry philosophy in manufacturing systems engineering, this article further establishes a comparative LCC analysis model to compare the LCC of the industrial robot production with traditional production at the same time. This model introduces intangible costs (covering idle loss, efficiency loss and defect loss) to supplement the actual costs and comprehensively uses various methods for cost allocation and variable estimation to conduct total cost and the cost efficiency analysis, together with hierarchical decomposition and dynamic comparison. To demonstrate the model, an investigation of a Chinese automobile manufacturer is provided to compare the LCC of welding robot production with that of manual welding production; methods of case analysis and simulation are combined, and a thorough comparison is done with related existing works to show the validity of this framework. In accordance with this study, a simple template is developed to support the decision-making analysis of the application and cost management of industrial robots. In addition, the case analysis and simulations can provide references for enterprises in emerging markets in relation to robot substitution.

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

scholarly journals Fault diagnosis of industrial robot reducer by an extreme learning machine with a level-based learning swarm optimizer

2021 ◽  
Vol 13 (5) ◽  
pp. 168781402110195
Author(s):  
Jianwen Guo ◽  
Xiaoyan Li ◽  
Zhenpeng Lao ◽  
Yandong Luo ◽  
Jiapeng Wu ◽  
...  
Keyword(s):  
Fault Diagnosis ◽  
Extreme Learning Machine ◽  
Large Scale ◽  
Production Efficiency ◽  
Industrial Robot ◽  
Optimal Solution ◽  
Industrial Robots ◽  
Generalization Performance ◽  
Gradient Descent Algorithm ◽  
Learning Machine

Fault diagnosis is of great significance to improve the production efficiency and accuracy of industrial robots. Compared with the traditional gradient descent algorithm, the extreme learning machine (ELM) has the advantage of fast computing speed, but the input weights and the hidden node biases that are obtained at random affects the accuracy and generalization performance of ELM. However, the level-based learning swarm optimizer algorithm (LLSO) can quickly and effectively find the global optimal solution of large-scale problems, and can be used to solve the optimal combination of large-scale input weights and hidden biases in ELM. This paper proposes an extreme learning machine with a level-based learning swarm optimizer (LLSO-ELM) for fault diagnosis of industrial robot RV reducer. The model is tested by combining the attitude data of reducer gear under different fault modes. Compared with ELM, the experimental results show that this method has good stability and generalization performance.

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