Automatic separation method for generation of reconfigurable 6R robot dynamics equations

Djuric, Ana; ElMaraghy, Waguih

doi:10.1007/s00170-009-2156-y

Cited by 14 publications

(13 citation statements)

References 13 publications

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“…The Eqs (7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18) represents the solution for the direct kinematics for this kinematic structure.…”

Section: Reconfiguration Parametersmentioning

confidence: 99%

“…Combining Eqs (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18), the solution for the inverse kinematics is expressed in the following two equations: …”

Section: Inverse Kinematic Solution For the Planar 2 Dof Reconfigurabmentioning

confidence: 99%

“…ic and controller models, the methodologies developed in [10][11][12] are utilized in this research.…”

Section: Reconfiguration Parametersmentioning

confidence: 99%

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Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Djuric

Urbanic

2009

ICA

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Simulation tools need to be developed to support modeling and product/process analysis activities for material deposition processes. The long term research goal is to develop a set of virtual modeling tools to support advanced tool motions and process planning strategies for this application. The goal of this research is to develop a reconfigurable robotic platform that can adapt alternative deposition strategies while respecting the unique process-related constraints for 2 1 /2 axis and 2 1 /2 axis + 2 axis tool paths. A variety of topologies are investigated. For the selected systems, a parametric kinematic, dynamic and control model is developed, and results presented for kinematic and dynamic reconfigurations. An adaptability assessment is performed to determine a relative effort measure to physically reconfigure a base platform to a potential new configuration. This combined with reviewing the modeling complexity issue, is used to determine an appropriate base platform. To simulate the process realistically using existing tools, a methodology is developed to illustrate material deposition in conjunction with the tool motions for the systems investigated.

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“…The Eqs (7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18) represents the solution for the direct kinematics for this kinematic structure.…”

Section: Reconfiguration Parametersmentioning

confidence: 99%

“…Combining Eqs (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18), the solution for the inverse kinematics is expressed in the following two equations: …”

Section: Inverse Kinematic Solution For the Planar 2 Dof Reconfigurabmentioning

confidence: 99%

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Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Djuric

Urbanic

2009

ICA

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“…The representation of different passive connectors and different connecting ports can be easier to be described than other methods. 20,22,23,27 SCM representation with a branching structure…”

Section: Two-module Assembly Modelmentioning

confidence: 99%

“…Yang 22 proposed one unified modeling method of the underwater self-reconfigurable robot based on graph theory and path matrix using Kane's method. Djuric and ElMaraghy 23 provided any automatic generation of the dynamics equation matrices elements based on Newton-Euler method. The calculated parameters were all computed containing the joint position, velocity, acceleration, and input torque or forces.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and configuration adaptive control for modular reconfigurable robot

Zhang

Liu

2017

Advances in Mechanical Engineering

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A unit module of the mobile modular reconfigurable robot (M 2 rBot) with the 12 connection ways is first introduced. For expressing the spatial connection relations and the traversing paths of the M 2 rBot, a novel method of the automatic generation of the spatial connection matrix is presented based on our proposed double-module space pose transformation. The motion equations are also automatically generated to solve the reconstruction problems of mechanical configuration, kinematics, and dynamics. This method enables to analyze the kinematics and dynamics for both serial and multi-branch modular robots with different configurations. As for the control strategies, a fuzzy robust adaptive controller is also developed to adapt to the different configurations without adjusting any control parameters. The results show that the novel method is effective, and the proposed controller can satisfy tracking performances and quickly adapt to the change of the configurations, the frictions, and the external disturbances. The proposed method and controller are easy to extend to other modular robots.

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Analysis of Reconfigurable 2DOF Machinery for Intelligent Manufacturing Systems

Djuric

ElMaraghy

2011

Enabling Manufacturing Competitiveness and Economic Sustainability

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Automatic separation method for generation of reconfigurable 6R robot dynamics equations

Cited by 14 publications

References 13 publications

Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Dynamic modeling and configuration adaptive control for modular reconfigurable robot

Analysis of Reconfigurable 2DOF Machinery for Intelligent Manufacturing Systems

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