Challenges: Strong impact operation robots—motion analysis, transient measurement, and vibration suppression strategy

IF 5.2 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Tong Mou , Xianzhong Chen , Qingwen Hou , Jiahao Hua , Zeping Hu , Chaoda Xie , Haisheng Zhong , Zhikun Qi
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引用次数: 0

Abstract

As industry tends to be much intelligence-oriented, the performance of industrial robots faces increasingly a higher demand. Strong Impact Operation Robots (SIORs), additionally with high efficiency and durability, have been widely applied in industry. However, with a feature of high-speed, non-linear and discontinuous impact and heavy load, SIORs inevitably trigger more complex and intense vibrations during the motion process, which restricts the improvement of the operational accuracy, stability and efficiency of such robots. This paper provides an overview of researches on vibration suppression of SIORs, and divides them into three categories, motion analysis and modeling, vibration sensing of impact transients, and design of vibration suppression strategies for impact transients. Taking the metallurgical furnace front operation robot as an example and combining it with real industrial scenarios, this paper points out the major challenges for SIORs in each category, setting up an accurate dynamic model of impact mechanism in a variable temperature environment, so as to realize vibration transient measurements under high-speed, non-linear and discontinuous impact, and cultivate active and passive vibration suppression techniques and model-data-driven strategies. This paper systematically investigates the complex vibration problem in SIORs, of which the findings are significant for enhancing the accuracy, stability and efficiency of SIORs, providing a solid foundation for future research on the complex vibration issues of robots.
挑战:强冲击操作机器人——运动分析、瞬态测量和振动抑制策略
随着工业越来越趋向智能化,对工业机器人的性能要求也越来越高。强冲击操作机器人(SIORs)具有高效、耐用等优点,在工业上得到了广泛的应用。然而,SIORs具有高速、非线性、不连续冲击和重载的特点,在运动过程中不可避免地引发更复杂、更强烈的振动,制约了此类机器人运行精度、稳定性和效率的提高。本文综述了SIORs的振动抑制研究,并将其分为运动分析与建模、冲击瞬态振动感知和冲击瞬态振动抑制策略设计三大类。本文以冶金炉前操作机器人为例,结合实际工业场景,指出各类别SIORs面临的主要挑战,建立变温度环境下冲击机理的精确动力学模型,实现高速、非线性、不连续冲击下的振动瞬态测量,培养主动、被动振动抑制技术和模型数据驱动策略。本文系统地研究了SIORs中的复杂振动问题,研究结果对于提高SIORs的精度、稳定性和效率具有重要意义,为今后机器人复杂振动问题的研究奠定了坚实的基础。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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