利用关节型工业机器人实现高重复性搬运的精密优化流程设计

IF 3.2 3区工程技术 Q2 ENGINEERING, INDUSTRIAL

Cirp Annals-Manufacturing Technology Pub Date : 2024-01-01 DOI:10.1016/j.cirp.2024.03.008

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引用次数: 0

摘要

高精度的搬运过程对于各种高科技行业来说都是必不可少的，通常需要使用专门的高精度机器人来实现。由于关节型机器人的运动结构导致其刚度和精度较低，因此很少用于此类任务。这项工作提出了一种设计搬运流程的方法，可最大限度地提高关节型机器人的可重复性。通过在流程设计的每个步骤中考虑其运动结构高度依赖姿势的特性以及对外部干扰的敏感性，可以显著提高可重复性。我们以搬运大型硅模具为例，通过实验验证了新方法的适用性。

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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Precision optimized process design for highly repeatable handling with articulated industrial robots

High-precision handling processes are essential for various high-tech industries and are typically realized using specialized high precision robots. Articulated robots are rarely used for such tasks due to their low stiffness and accuracy stemming from their kinematic structure. This work presents a methodology for designing handling processes that maximise repeatability with articulated robots. By considering their kinematic structures’ highly pose dependent properties as well as sensitivity to external disturbances in every step of the processes design, significantly improved repeatability can be achieved. The applicability of the new methodology is verified experimentally using the example of handling of large silicon dies.

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来源期刊

Cirp Annals-Manufacturing Technology 工程技术-工程：工业

CiteScore

7.50

自引率

9.80%

发文量

137

审稿时长

13.5 months

期刊介绍： CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems. This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include: Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.