Experimental Study of the Vibrations of a Roller Shutter Gripper

Abstract

The article presents issues related to an experimental study of the vibrations of a roller shutter gripper on a robotic palletizing station. The authors presented the developed and built construction of the gripper for handling whole layers of products, separators, and pallets. The concept of the device was developed in cooperation with an integrator company. The authors verified the functionality of the gripper in a virtual environment for modeling and programming industrial robots. After the gripper was manufactured and the control software was developed for it, functional tests and inertia tests were carried out. The main purpose of the tests was to determine the vibration of the robot’s flange and the vibration of the attached gripper. Tests of the gripper’s properties on the robotic test bench were performed using MTi XSENS sensors and a PHANTOM V210 high-speed camera. The testing methodology proposed by the authors made it possible to confirm the occurrence of vibrations in the structure and to determine the relationship between the parameters of the robot’s motion (velocity and acceleration) and the magnitude of the vibrations occurring. During the tests, a disturbance in the decrease in the maximum value of acceleration was noted. This may be due to the appearance of natural vibrations in the structure. They have a damped character; however, they are not steady. In future work, the authors will focus on the possibility of using the proposed methodology to reduce robot vibrations in selected robotic production processes (such as spot welding).

Identification of Differential Drive Robot Dynamic Model Parameters

“…In the case of frequent changes in the production process, dynamically changing environment in the plant (e.g., moving workers) [ 7 ], disturbances [ 8 , 9 ] and obstacles [ 10 ], a safe and flexible control system is required to allow for environmental changes [ 11 , 12 , 13 ] or reprogramming of the carts for other tasks. Searching for the most appropriate path planning algorithm according to user requirements can be challenging given the large number of examples existing in the literature [ 14 , 15 , 16 , 17 , 18 , 19 ]. Furthermore, in the case of AGV robots, the precision of the final positioning is crucial for successful loading and unloading of transported goods in typical industrial applications [ 20 ].…”

Selected Issues, Methods, and Trends in the Energy Consumption of Industrial Robots

“…Robotization significantly shortens the time required to perform a single operation compared with manual execution. Increasing repeatability and production quality using industrial robots allows for high precision and stable working parameters, and it makes these devices popular for various industrial applications [7][8][9][10]. Every machine needs energy, as without it, it does not operate.…”