Design of a Wooden Five-Bar Mechanism

Kaci, Lila; Briot, Sébastien; Boudaud, Clément; Martinet, Philippe

doi:10.1007/978-3-319-78963-7_42

Cited by 2 publications

(3 citation statements)

References 13 publications

(10 reference statements)

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“…While the eco-design of robots was rarely searched in the past, bio-sourced materials such as wood could be used instead of metal or carbon composite parts to reduce the environmental impact of the robot significantly during the design stage. Wood has interesting mechanical properties, but its performance changes according to dimensions, atmospheric conditions, external factors and conditions in which the trees grow (Kaci et al, 2019). With the developing technology in the field of industrial robots, progress has been made in the field of robot-human cooperation.…”

Section: Instruction Girişmentioning

confidence: 99%

Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

Koç

DOĞAN

2022

Gümüşhane Üniversitesi Fen Bilimleri Enstitüsü Dergisi

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These days, in industrial robot applications, servo motors with reducer have been used to move robot manipulators. Due to the weight of the robot parts, it causes undesirable conditions such as backward movement, downward movement and vibration caused by the moments of inertia at the time of movement. In this study, step motor ball screw driven actuators, which use push-pull force instead of servo motor with reducers, were utilized to provide rotational movement in robot arms. The ball screw system reduces the effect of moments of inertia caused by the movements of the robot joints, and restricts the free movements of the robot joints. It also provides an advantage by reducing costs since it uses smaller motors. In articulated robots, the complexity of kinematic equations and the use of high-order polynomials for trajectory planning cause difficulties in controlling. In this study, the information of the points, where the robot went during the manual movement, was obtained by using the macros prepared in program interface without using kinematic and trajectory planning equations. The position lines taken at these points were printed in a text file by adding the code G01 and f feed-rate. The robot was made to move by running this file in the program interface used for control. This method allows the operator to use the robot without advanced kinematics knowledge.

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Section: Instruction Girişmentioning

confidence: 99%

Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

Koç

DOĞAN

2022

Gümüşhane Üniversitesi Fen Bilimleri Enstitüsü Dergisi

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“…The numerical values of the five-bar mechanism geometric and dynamic parameters were defined according to a real parallel robot called RobEcolo in [29] [30], and have the following values:…”

Section: Case Study 41 Five-bar Mechanism With Variable Parallel Elamentioning

confidence: 99%

“…The algorithm validation was performed by using the dynamic model of the real parallel robot called RobEcolo [29] [30], which is a wooden five-bar mechanism whose dynamic model is given by the following equations:…”

Section: Case Study 41 Five-bar Mechanism With Variable Parallel Elamentioning

confidence: 99%

Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation

Hill

Briot

Chriette

et al. 2018

Volume 5B: 42nd Mechanisms and Robotics Conference

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The classical approach to decrease the energy consumption of high-speed robots is by lowering the moving elements mass in order to have a lightweight structure. Even if this allows reducing the energy consumed, the lightweight architecture affects the robot stiffness, worsening the accuracy of the mechanism. Recently, variable stiffness actuators (VSAs) have been used in order to reduce the energy consumption of high-speed pick-and-place robots. The idea is to smartly tune online the stiffness of VSA springs so that the robot is put in near a resonance mode, thus considerably decreasing the energy consumption during fast pseudo-periodic pick-and-place motions. However, the serial configuration of springs and motors in the VSA leads to uncontrolled robot deflections at high-speeds and, thus, to a poor positioning accuracy of its end-effector. In order to avoid these drawbacks and to increase the energy efficiency while ensuring the accuracy, this paper proposes the use of parallel arrangement of variable stiffness springs (VSS) and motors, combined with an energy-based optimal trajectory planner. The VSS are used as energy storage for carrying out the reduction of the energy consumption and their parallel configuration with the motors ensure the load balancing at high-speed without losing the accuracy of the robot. Simulations of the suggested approach on a five-bar mechanism are performed and show the increase on energy efficiency.

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Design of a Wooden Five-Bar Mechanism

Cited by 2 publications

References 13 publications

Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation

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