دورية أكاديمية
Variable Stiffness Identification and Configuration Optimization of Industrial Robots for Machining Tasks
| العنوان: | Variable Stiffness Identification and Configuration Optimization of Industrial Robots for Machining Tasks |
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| المؤلفون: | Jiachen Jiao, Wei Tian, Lin Zhang, Bo Li, Junshan Hu, Yufei Li, Dawei Li, Jianlong Zhang |
| المصدر: | Chinese Journal of Mechanical Engineering, Vol 35, Iss 1, Pp 1-16 (2022) |
| بيانات النشر: | SpringerOpen, 2022. |
| سنة النشر: | 2022 |
| المجموعة: | LCC:Ocean engineering LCC:Mechanical engineering and machinery |
| مصطلحات موضوعية: | Industrial robot, Space gridding, Variable stiffness identification, Configuration optimization, Smooth processing, Ocean engineering, TC1501-1800, Mechanical engineering and machinery, TJ1-1570 |
| الوصف: | Abstract Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence. However, the low structural stiffness of a robot significantly affects its positional accuracy and the machining quality of its operation equipment. Studying robot stiffness characteristics and optimization methods is an effective method of improving the stiffness performance of a robot. Accordingly, aiming at the poor accuracy of stiffness modeling caused by approximating the stiffness of each joint as a constant, a variable stiffness identification method is proposed based on space gridding. Subsequently, a task-oriented axial stiffness evaluation index is proposed to quantitatively assess the stiffness performance in the machining direction. In addition, by analyzing the redundant kinematic characteristics of the robot machining system, a configuration optimization method is further developed to maximize the index. For numerous points or trajectory-processing tasks, a configuration smoothing strategy is proposed to rapidly acquire optimized configurations. Finally, experiments on a KR500 robot were conducted to verify the feasibility and validity of the proposed stiffness identification and configuration optimization methods. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1000-9345 2192-8258 |
| Relation: | https://doaj.org/toc/1000-9345; https://doaj.org/toc/2192-8258 |
| DOI: | 10.1186/s10033-022-00778-1 |
| URL الوصول: | https://doaj.org/article/92dfd34364324513994b87a09483fd54 |
| رقم الأكسشن: | edsdoj.92dfd34364324513994b87a09483fd54 |
| قاعدة البيانات: | Directory of Open Access Journals |
Find this article in full text from Springer Verlag. 
Full Text Finder | تدمد: | 10009345 21928258 |
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| DOI: | 10.1186/s10033-022-00778-1 |