Analysis of trajectory and motion parameters of an industrial robot cooperating with a numerically controlled machine tools

Peta, Katarzyna; Wlodarczyk, Jan; Maniak, Mateusz

doi:10.1016/j.jmapro.2023.06.063

Cited by 14 publications

(8 citation statements)

References 34 publications

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“…Even though in a different application, the speed of motion and positioning accuracy of a robot are crucial factors [18]. It is worth noting that lightweight robots, including fruit robots, may have lower stiffness and insufficient accuracy compared to ordinary industrial robots [19].…”

Section: Introductionmentioning

confidence: 99%

Design and Simulation of End Effector for Young-Pear-Bagging Robot

Teng,

Chen,

et al. 2024

Processes

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In order to address the time-consuming and labor-intensive challenges as well as the suboptimal operational quality encountered in the conventional processes of fruit bagging within expansive orchards, an innovative end-of-bagging actuator is proposed, which can be installed on a fruit-production robot. Due to the excessive power sources required to complete the bagging operation, while also taking into account the quality and cost of the end effector, we have implemented a clutch transmission system to control individual motors, thereby achieving efficient bag-opening and collection actions. Through kinematic analysis of the bagging end effector, the optimal bag opening size is determined to be 40.3372 mm, with a deviation of 0.1428 mm from the design target and an error rate of 0.35%. This ensures the desired bag size for bagging juvenile fruits. Moreover, a dynamic simulation model comprising rigid drive components and a flexible clutch was developed. The simulation results demonstrate the system’s stable performance. However, it is evident that the gear speed falls below that of the flexible clutch, resulting in insufficient bag opening and bag gathering compared to the intended design target. The observed phenomenon is a result of the characteristics exhibited by the flexible clutch. Specifically, the demands for bagging and stretching can be accommodated by modifying the stiffness and geometric configuration of the flexible clutch, alongside the level of operational force. To conclude, the suggested end effector can successfully simulate the implementation of the manual bagging process. By taking into account the quality and cost of the end effector, a clutch drive system was utilized to regulate a single motor, resulting in efficient bag-opening and collection actions. This approach offers a more integrated and efficient solution compared to manual bagging and semi-automatic mechanically assisted bagging methods.

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Section: Introductionmentioning

confidence: 99%

Design and Simulation of End Effector for Young-Pear-Bagging Robot

Teng,

Chen,

et al. 2024

Processes

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“…The main criteria include costs and product production time or process duration. When planning or designing robotic systems, several variants are created, often by modeling and simulating them in a virtual environment-in such an environment it is possible to simulate, among others: manipulation [11][12][13], grinding [14], palletizing [15], painting, milling, welding [16], spraying [17] and 3D printing [18]. Process simulations can determine, among other things, the correctness of the process, the exact process time, energy consumption and the demand for other production resources, e.g., water, adhesives, solvents or compressed air.…”

Section: Introductionmentioning

confidence: 99%

Sustainable Robotic Process for Sealing Car Radiators

Peta,

Wiśniewski,

Pęczek

et al. 2024

Sustainability

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This work presents the multi-variant robotization of the process of sealing car radiators. Three design solutions have been proposed for the tank sealing station, in which the seal is applied on a stationary worktable, on a rotary positioner and on a belt conveyor. These solutions were compared in terms of process time, but also energy consumption. The energy optimization of robotic processes is one of the elements of effective production. First, a review of the use of industrial robots in assembly processes is provided and the structure of car radiators is presented. Next, the basic technological process of producing a car radiator is described, especially the process of applying a liquid gasket. Then, the designed robotic stations and conclusions from the simulations are presented, along with the selection of the most sustainable variant of the robotic station. The results of the simulations are useful in reducing the robot’s operating time and energy consumption while maintaining the appropriate process quality.

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“…This is a tool for optimizing process efficiency and sustainable energy use [10]. Designed robotic welding processes and offline programmed robots, after verifying the design assumptions, can be implemented in real conditions by transmitting data to the robot controller [11]. Therefore, offline programming contributes to increasing the precision and efficiency of welding processes [12], reduces process downtime [13], improves the profitability of process energy optimization [14], improves safety [15], and also affects the flexibility and adaptability of robotic systems [16].…”

Section: Introductionmentioning

confidence: 99%

Analysis of Energy Consumption of Robotic Welding Stations

Peta,

Suszyński,

Wiśniewski

et al. 2024

Sustainability

Self Cite

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Analysis of the energy consumption of industrial robots during the implementation of a technological task can increase efficiency and minimize production costs, as well as extend the service life of robots, taking into account the rational use of energy sources. An important challenge in designing sustainable production processes is the selection of energy-saving technological equipment supporting the work of robots. Additionally, optimization of robot program codes, including parameters and robot movement paths, determines the energy efficiency of the robotic station. Welding is one of the most popular areas of process robotization due to its ability to increase production efficiency and improve the quality of part assembly compared to manual work. In these studies, an exemplary process of robotic welding of aluminum alloy parts was designed, analyzed, and optimized with an orientation towards sustainable development guidelines. This work also presents a review of current publications discussing the authors’ contribution to achieving energy efficiency in robotic welding processes. The purpose of this analysis is also to indicate directions for the development of future research work in order to minimize energy consumption in production processes with an appropriate level of product quality and increase production efficiency.

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Analysis of trajectory and motion parameters of an industrial robot cooperating with a numerically controlled machine tools

Cited by 14 publications

References 34 publications

Design and Simulation of End Effector for Young-Pear-Bagging Robot

Design and Simulation of End Effector for Young-Pear-Bagging Robot

Sustainable Robotic Process for Sealing Car Radiators

Analysis of Energy Consumption of Robotic Welding Stations

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