Development of the low backlash planetary gearbox for humanoid robots

Penčić, Marko; Čavić, Maja; Borovać, Branislav

doi:10.5937/fmet1701122p

Cited by 15 publications

(6 citation statements)

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“…So, the orientation of flat parts had been already described in some studies [9], a model of mixing parts was proposed, in which flat parts are periodically thrown by a simple throwing surface with one degree of freedom, captured and allowed to settle the parts in the desired position. Studies [10] prove the positive effect of increasing assembly accuracy on the efficiency and load capacity of robotic mechanisms. Improving assembly accuracy is especially important in the context of mass production, which is based on assembly lines of various types [11].…”

Section: Prerequisites and Means For Solving The Problemmentioning

confidence: 93%

Section: Building a Regression Model Of The Response Functionmentioning

confidence: 99%

“…x x x in equation (10) after checking the significance of the coefficients of the regression equation using the Student's t-test turned out to be insignificant. Therefore, they were excluded from the regression equation (10). The resulting regression model for the assembly of precision parts allows one to study the influence of independent factors of the response function on the optimization parameter, i.e.…”

Section: Building a Regression Model Of The Response Functionmentioning

confidence: 99%

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Experimental studies of robotic assembly of precision parts

Polishchuk¹,

Tkach²

2021

FME Transactions

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At present, robotization of assembly processes is achieved through the use of industrial robots with high positioning accuracy in conjunction with tactile means of adaptation to the conditions of assembly of precision parts. The cost of such robots is many times higher than the cost of simple robots with low positioning accuracy of the robot arm. The research in this article is aimed at reducing the cost of assembly processes for precision parts by applying the position correction of the connected parts not by the robot hand, but by an additional technological module that is installed on the manipulator of a simple robot and performs high-speed stochastic mismatch scan of assembly objects. The article presents the results of a full factorial experiment of the process of joining precision cylindrical parts with a gap of no more than 3...5 microns. A regression model of this process is proposed, a formula for calculating the quasi-optimal modes of precision assembly and graphanalytical dependences of the assembly time on the scanning modes of the misalignment of assembly objects are given. The proposed high-speed method for compensating for the positioning error of an industrial robot makes it possible to assemble precision parts in a very short time within 1...3(s). The main economic effect of the research results is that the device for scanning the misalignment of assembly objects, which is installed on the arm of an inexpensive robot with a low positioning accuracy, can significantly increase the assembly speed and reduce capital investments in robotic assembly of high-precision parts.

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Section: Prerequisites and Means For Solving The Problemmentioning

confidence: 93%

Section: Building a Regression Model Of The Response Functionmentioning

confidence: 99%

Section: Building a Regression Model Of The Response Functionmentioning

confidence: 99%

See 1 more Smart Citation

Experimental studies of robotic assembly of precision parts

Polishchuk¹,

Tkach²

2021

FME Transactions

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“…A remarkable construction of a biomechanical arm with seven degrees of freedom and original drives was proposed in [14]. This technical solution illustrates the effectiveness of the use of anthropomorphic designs of robots to perform technological operations.…”

Section: Prerequisites and Means For Solving The Problemmentioning

confidence: 94%

Mobile robot with an anthropomorphic walking device: Design and simulation

Polishchuk¹,

Tkach²

2020

FME Transactions

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The article presents a fundamentally new design of an anthropomorphic walking device for a mobile robot. The novelty of the proposed design lies in the fact that each part of the leg of the robot is made in the form of four corrugated pneumatic chambers that are mounted on spherical hinges. This design allows the robot to move in an angular coordinate system, which is typical for humans. A mathematical model of an elastic walking device is proposed and analytical dependences are given for calculating the geometric and strength parameters. The results of mathematical modelling and recommendations for the design of anthropomorphic walking mechanisms are given. The engineering formulas and diagrams for calculating power loads described in the article allow you to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The stated research results allow us to expand the technological capabilities of mobile robots.

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“…Due to mechanical, sensing and control complexity, compliance control is still an open and very challenging research topic. Recent progress in the development of soft and humanoid robots (including robots with multiple and cooperating arms), especially their extensive implementation in complex tasks with intensive human-robot physical interaction as well as in constrained motion tasks where precise morphing of the robot taskspace stiffness is essential for successful task execution -increase the importance of compliance research, [4], but also backlash in joint actuation system [5]. New understanding of underlying phenomena and consequently, new extensions, or at least refinements of the already existing theory are necessary, [6].…”

Section: Introductionmentioning

confidence: 99%