Synthesis and prototyping of a backdrivable parallel robot for metal finishing tasks

IF 9.1 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing Pub Date : 2024-12-20 DOI:10.1016/j.rcim.2024.102934

Pierre-Luc Beaulieu, Thierry Laliberté, Simon Foucault, Clément Gosselin

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引用次数: 0

Abstract

This article presents the synthesis, control and experimental validation of a backdrivable three-degree-of-freedom translational mini robot used to control the interaction between a robot and a machined part during finishing tasks, such as polishing, sanding and deburring without requiring the use of a force/torque sensor. The mini robot acts as an active contact flange, allowing an industrial robot (the macro robot) to adapt to a part using an impedance control algorithm. Firstly, different three-degree-of-freedom parallel robot architectures are compared and the most suitable architecture is selected. Geometrical properties are chosen for the robot and the physical capabilities of the architecture are predicted to ensure that the design criteria are satisfied. An impedance control algorithm is then developed for the mini robot. The macro-mini system is formed by installing the mini robot on a gantry robot. Sanding tests are carried out in order to validate the performance of the system and the mini robot is compared to other contact flanges already available on the market. Finally, a method allowing the determination of the magnitude of the friction forces in the mini robot is presented and a preliminary friction compensation algorithm is developed. As opposed to existing tools, the novel mini robot proposed in this work is based on a compact parallel architecture, which makes it possible to ensure the backdrivability of the system in three directions. An impedance control algorithm can therefore be implemented thereby providing stability even with stiff environments and eliminating the need for a force/torque sensor.

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来源期刊

Robotics and Computer-integrated Manufacturing 工程技术-工程：制造

CiteScore

24.10

自引率

13.50%

发文量

160

审稿时长

50 days

期刊介绍： The journal, Robotics and Computer-Integrated Manufacturing, focuses on sharing research applications that contribute to the development of new or enhanced robotics, manufacturing technologies, and innovative manufacturing strategies that are relevant to industry. Papers that combine theory and experimental validation are preferred, while review papers on current robotics and manufacturing issues are also considered. However, papers on traditional machining processes, modeling and simulation, supply chain management, and resource optimization are generally not within the scope of the journal, as there are more appropriate journals for these topics. Similarly, papers that are overly theoretical or mathematical will be directed to other suitable journals. The journal welcomes original papers in areas such as industrial robotics, human-robot collaboration in manufacturing, cloud-based manufacturing, cyber-physical production systems, big data analytics in manufacturing, smart mechatronics, machine learning, adaptive and sustainable manufacturing, and other fields involving unique manufacturing technologies.