通过灵巧姿态识别提高工业机器人关节刚度的实验方法

IF 0.5 4区工程技术 Q4 ENGINEERING, INDUSTRIAL

South African Journal of Industrial Engineering Pub Date : 2021-12-01 DOI:10.7166/32-4-2590

A. P. Singh, J. Padayachee, G. Bright

{"title":"通过灵巧姿态识别提高工业机器人关节刚度的实验方法","authors":"A. P. Singh, J. Padayachee, G. Bright","doi":"10.7166/32-4-2590","DOIUrl":null,"url":null,"abstract":"Improving a robot’s posture enables it to perform with greater accuracy and repeatability. A stiffer posture also protects the robot from unnecessary vibrations and deflections that may be induced by an applied load. This paper presents a method for choosing high stiffness robot postures. The method is demonstrated on a six-degree-of-freedom Fanuc M10-iA serial manipulator. The posture identification and stiffness modelling were achieved by a reliable and cost-effective alternative to deflection measurement using IEPE accelerometers.","PeriodicalId":49493,"journal":{"name":"South African Journal of Industrial Engineering","volume":" ","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"AN EXPERIMENTAL APPROACH TO IMPROVING THE JOINT STIFFNESS OF INDUSTRIAL ROBOTS THROUGH DEXTEROUS POSTURE IDENTIFICATION\",\"authors\":\"A. P. Singh, J. Padayachee, G. Bright\",\"doi\":\"10.7166/32-4-2590\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Improving a robot’s posture enables it to perform with greater accuracy and repeatability. A stiffer posture also protects the robot from unnecessary vibrations and deflections that may be induced by an applied load. This paper presents a method for choosing high stiffness robot postures. The method is demonstrated on a six-degree-of-freedom Fanuc M10-iA serial manipulator. The posture identification and stiffness modelling were achieved by a reliable and cost-effective alternative to deflection measurement using IEPE accelerometers.\",\"PeriodicalId\":49493,\"journal\":{\"name\":\"South African Journal of Industrial Engineering\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":0.5000,\"publicationDate\":\"2021-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"South African Journal of Industrial Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.7166/32-4-2590\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, INDUSTRIAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"South African Journal of Industrial Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.7166/32-4-2590","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, INDUSTRIAL","Score":null,"Total":0}

引用次数: 0

摘要

改进机器人的姿势可以使其具有更高的准确性和可重复性。僵硬的姿势还可以保护机器人免受不必要的振动和偏转，这些振动和偏转可能是由施加的负载引起的。提出了一种选择高刚度机器人姿态的方法。该方法在六自由度发那科M10-iA系列机械手上进行了验证。姿态识别和刚度建模是通过使用IEPE加速度计进行挠度测量的可靠且经济的替代方法来实现的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

AN EXPERIMENTAL APPROACH TO IMPROVING THE JOINT STIFFNESS OF INDUSTRIAL ROBOTS THROUGH DEXTEROUS POSTURE IDENTIFICATION

Improving a robot’s posture enables it to perform with greater accuracy and repeatability. A stiffer posture also protects the robot from unnecessary vibrations and deflections that may be induced by an applied load. This paper presents a method for choosing high stiffness robot postures. The method is demonstrated on a six-degree-of-freedom Fanuc M10-iA serial manipulator. The posture identification and stiffness modelling were achieved by a reliable and cost-effective alternative to deflection measurement using IEPE accelerometers.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

South African Journal of Industrial Engineering 工程技术-工程：工业

CiteScore

1.10

自引率

20.00%

发文量

审稿时长

6 weeks

期刊介绍： The South African Journal of Industrial Engineering (SAJIE) publishes articles with the emphasis on research, development and application within the fields of Industrial Engineering and Engineering and Technology Management. In this way, it aims to contribute to the further development of these fields of study and to serve as a vehicle for the effective interchange of knowledge, ideas and experience between the research and training oriented institutions and the application oriented industry. Articles on practical applications, original research and meaningful new developments as well as state of the art surveys are encouraged.