Conceptual design, control, and simulation of a 5-DoF robotic manipulator for direct additive manufacturing on the internal surface of radome systems

Grazioso, Stanislao; Maio, Manuele Di; Gironimo, Giuseppe Di

doi:10.1007/s00170-018-3035-1

Cited by 4 publications

(7 citation statements)

References 23 publications

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“…Yerazunis et al (2016) proposed a five-axis AM machine for printing parts with improved strength as shown in 2019) also investigated a five-axis FDM printer for reducing staircase effect and fabricating thin-shell structures. Grazioso, Di Maio, and Di Gironimo (2019) proposed a new metal five-DOF AM system for non-planar printing, using an internal surface of radome systems as a demonstration. Figure 8 (b) shows the structure of this AM system.…”

Section: Five-dof Ammentioning

confidence: 99%

A review of multiple degrees of freedom for additive manufacturing machines

Jiang

Newman

Zhong

2020

International Journal of Computer Integrated Manufacturing

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Currently, additive manufacturing (AM) technology has received significant attention from both academia and industry. AM is characterized by fabricating geometrically complex components in a layer-by-layer manner, and greatly reduces the geometric complexity restrictions compared with traditional manufacturing. As AM is no longer limited to the normal three degrees of freedom (DOF) (three-axis) systems, there are many new multi-DOF AM machines been developed with various aims. It is, therefore, necessary that a review of the topic with regard to multi-DOF AM is performed for future AM system development. This paper, focuses on reviewing publications related to multi-DOF AM according to the number of DOF on an AM machine. The major part of the paper aims to inspire both researchers and engineers to further develop and improve multi-DOF AM systems to achieve different goals. The final part of the paper discusses the findings together with future research directions.

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Section: Five-dof Ammentioning

confidence: 99%

A review of multiple degrees of freedom for additive manufacturing machines

Jiang

Newman

Zhong

2020

International Journal of Computer Integrated Manufacturing

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“…In fact, Simscape Multibody has already been successfully used in the field of robotics to build models of articulated [9][10][11][12][13][14][15][16][17], parallel [18,19], mobile [20,21] and legged robots [22,23]. It has also been used to test a robot dynamic parameter identification method in [24], to test robot control strategies in [25][26][27][28], to model and simulate a multi-fingered robot arm grasping [29] and to design a 5 degrees of freedom manipulator for additive manufacturing in [30]. However, previous studies using Simscape Multibody have mostly focused on the kinematic modeling of robots, neglecting its dynamic modeling and the inclusion of non-idealities, friction, reduction gears, and motor dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…However, previous studies using Simscape Multibody have mostly focused on the kinematic modeling of robots, neglecting its dynamic modeling and the inclusion of non-idealities, friction, reduction gears, and motor dynamics. Only in [9,11] friction was included and only in [11,30] the motor dynamics was taken into account. Nevertheless, while robot manipulators are typically equipped with Permanent Magnet AC Synchronous Motors (PMSMs), in [11] PMSMs motors were described through their simplified equivalent DC monophase models while in [30] bruslhess DC servomotors were modeled.…”

Section: Introductionmentioning

confidence: 99%

Designing Digital Twins of Robots Using Simscape Multibody

Boschetti,

Sinico

2024

Robotics

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Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and electric actuators dynamics. After assessing the dynamic accuracy of the Simscape model, we used it to test a computed torque control scheme, proving that this model can be reliably used in simulations with different aims, such as validating control schemes, evaluating collaborative functions or minimizing power consumption.

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“…Simscape-based physical modeling has been used successfully in many different fields: PV generators in microgrid scenario [7], graphene based nano-electronic systems [8], power PIN diodes [9], wind turbine gearboxs [10], DC motors [11], 3-wheeled electric vehicles [12], and so on. For robot manipulators, several researches using this approach are presented, e.g., Furuta pendulums [13], hexapod robots [14], 3-RPS parallel robotics [15], 2-DOF robots [16], 5-DOF robotic manipulators [17], and successfully simulating a complicated mechanical system [18]. In [19], the paper deals with a system identification problem of Staubli RX-60 robot supported by least squares and particle swarm optimization methods through various measured data of the actual robot that are not always available in practice.…”

Section: Introductionmentioning

confidence: 99%

Quasi-physical modeling of robot IRB 120 using Simscape Multibody for dynamic and control simulation

Truc¹,

Nguyễn²

2020

Turk J Elec Eng & Comp Sci

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The mathematical model of robot that is used to design control algorithms is mostly reused in numerical simulations as a virtual plant. The use of same model for both control design and simulation tasks makes the outcome idealized. Consequently, the effectiveness and feasibility of designed control methodologies when applied in practice seem to be questionable. The paper presents the quasi-physical modeling of a 6-DOF robot using MATLAB/Simscape Multibody for dynamic and control simulation. The bodies of the robot are assembled into a physical network with connections that represent physical domains. The dynamical manners of the quasi-physical model are close to that of real robot manipulators. This model can be exploited to verify the accuracy of mathematical models. After designing process, the control laws are validated with this model instead of an ideal mathematical model or an actual expensive prototype. The efficiency of the proposed modeling approach is demonstrated through the dynamic and control simulation of robot IRB 120.

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Conceptual design, control, and simulation of a 5-DoF robotic manipulator for direct additive manufacturing on the internal surface of radome systems

Cited by 4 publications

References 23 publications

A review of multiple degrees of freedom for additive manufacturing machines

A review of multiple degrees of freedom for additive manufacturing machines

Designing Digital Twins of Robots Using Simscape Multibody

Quasi-physical modeling of robot IRB 120 using Simscape Multibody for dynamic and control simulation

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