Improving the precision of mechatronic robot drives

Ilyukhin, Yu. V.; Poduraev, Yu. V.

doi:10.3103/s1068798x16040067

Cited by 3 publications

(2 citation statements)

References 9 publications

(8 reference statements)

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“…In order to increase accuracy and performance of robotic milling we propose using robots, built on precision drives, closed by position control loops of the manipulator links. The research results [10,12] allow us to recommend dual motor servo drives with two position control loops and two position sensors in this case. In such servo drives one of the motors is a part of the primary servo system, closed by a position control loop of the manipulator link.…”

Section: Increase In Accuracy Of Technological Robots Built On Precis...mentioning

confidence: 93%

“…In this case, accuracy cannot be raised significantly too, especially at frequent variations of directions of the control object movement. Another approach suggests implementing drives with two coordinately controlled motors [9,10], closed by position control loops of the manipulator links. Implementation of impedance control [11,12] allows us to increase dynamic stiffness of the drives and to damp oscillations in their mechanical subsystems.…”

Section: Introductionmentioning

confidence: 99%

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An Increase in Accuracy of Robotic Milling

Ilyukhin

Kolesnichenko

2017

AMM

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The results of the theoretical research and the computer simulation, aimed at increase in accuracy of robotic milling, are presented in the article. An analysis of the mathematical models of the system «technological robot – milling process» is conducted. The prospects of the usage of precision geared dual motor servo drives and trajectory-impedance control systems are underlined. A computer research of the tool movement accuracy during the robotic cylindrical up-milling process, depending on path velocity of the milling cutter and rated value of the cutting depth, has been carried out. Two types of manipulators have been considered: a manipulator with traditional geared servo drives with one motor and a manipulator with the suggested precision dual motor drives. In order to measure accuracy of movements during the computer simulation process a deviation of the tool, normal to the desired trajectory of its movement, has been defined. The results testify the facts that dual motor servo drives allow us to significantly increase dynamic stiffness of technological robots and they promote increasing accuracy and performance of robotic milling.

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Section: Increase In Accuracy Of Technological Robots Built On Precis...mentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

An Increase in Accuracy of Robotic Milling

Ilyukhin

Kolesnichenko

2017

AMM

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Three-Component Force Measurement Sensor Based on an Elastic Silicone Element and a Magnetometer

Trunin¹,

Meleshnikov²,

Solovyev

et al. 2021

PoHEI.MB

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The presence of force-moment sensing of robotic systems makes it possible to improve the quality of the interaction between the robot and the objects of the external environment. There are many ways to provide force-moment sensing, one of which is to use multicomponent force sensors. However, their cost is quite high, so it is important to search and develop more profitable technical solutions. In this regard, a three-component force measurement sensor was developed, built on the basis of an elastic silicone element, with a built-in permanent magnet, and a hall-effect magnetometer. This technical solution is low-cost. The paper describes the technological process for the production of a three-component force measurement sensor, based on 3D printing of the body with an FDM printer, which makes it cheap to manufacture, and molding of two-component silicone. The paper considers the process of soldering SMD components to boards using a soldering hair dryer, stencils and solder paste, and shows a stand for calibrating the manufactured sensors, consisting of micrometric screws and parts printed on an FDM 3D printer. The mathematical method for calibration is based on the least squares method. The result of calibration of a three-component force measurement sensor is given. The research results in the development of a working sensor with the following characteristics: resolution — 1 mN, sensor sensitivity — 0.005 T / N.

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Accuracy of Milling by Robots with Two-Motor Servo Drives

Ilyukhin

Kolesnichenko

2019

Russ. Engin. Res.

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Improving the precision of mechatronic robot drives

Cited by 3 publications

References 9 publications

An Increase in Accuracy of Robotic Milling

An Increase in Accuracy of Robotic Milling

Three-Component Force Measurement Sensor Based on an Elastic Silicone Element and a Magnetometer

Accuracy of Milling by Robots with Two-Motor Servo Drives

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