Investigation and strategies for precision of miniaturized robots with micro gears

Burisch, Arne; Raatz, Annika

doi:10.1108/01445151111172899

Cited by 9 publications

(2 citation statements)

References 12 publications

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“…These are: eccentricity (radial run-out), orientation (axial run-out, or wobble), toothto-tooth contact, and tooth profile (Judd and Knasinski, 1990). Burisch and Raatz (2011) presented a method for compensation of the transmission error of micro harmonic drive gears for miniaturized robots. Measurement data of the transmission error were mathematically transformed into the frequency domain and filtered to the most important frequency modes of the function.…”

Section: Introductionmentioning

confidence: 99%

Characterization and experimental evaluation of gear transmission errors in an industrial robot

Slamani

Bonev

2013

Industrial Robot: An International Journal

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If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -This paper proposes a simple technique for assessing the effect of gear transmission errors in a six-axis industrial serial robot, as these errors can vitally affect the industrial robot's positioning accuracy. Design/methodology/approach -The experimental procedure is developed using a laser interferometer system to measure bidirectional linear position errors for an ABB IRB 1600 industrial robot. A simple technique based on fast Fourier transformation (FFT) analysis is devised and implemented for the characterization, evaluation, and quantification of gear transmission errors. Structural deformation and backlash error are also discussed. Findings -The authors found that the major sources of error affecting the performance of the robot come from joints two and three. They also found that eccentricity errors, structural deformations, and backlash are the most important sources of error affecting the accuracy and the repeatability of the industrial robot studied. Additional tests show that the robot's first joint has relatively poor bidirectional repeatability. Practical implications -The usefulness of a laser tracker (or any other large range portable 3D measurement system) is questionable for assessinglet alone analyzing in depth -the gear transmission errors of some of today's industrial robots. The authors demonstrate in this paper that a laser interferometer system can successfully measure gear transmission errors very accurately. The proposed methodology is simple, efficient, and easy to use for the characterization and quantification of the errors. Originality/value -This work is the first to detail the use of the laser interferometer system for the characterization of the gear transmission errors of an industrial robot. A methodology has been developed and implemented for very accurately quantifying the effects of gear transmission errors, structural deformations, and backlash. The proposed methodology greatly simplifies the measurement set-up and accelerates error quantification.

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Section: Introductionmentioning

confidence: 99%

Characterization and experimental evaluation of gear transmission errors in an industrial robot

Slamani

Bonev

2013

Industrial Robot: An International Journal

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“…Miniaturization not only has resulted in the growth of computer, consumer electronics, medical electronics and toy industries worth a trillion dollars, but has also created new possibilities to develop much smaller and more flexible micro production systems, such as energy-efficient machine tools and portable factories. Such smaller systems have enabled simplicity, mobility, affinity, ownership, autonomy, changeability and energy efficiency, and in turn facilitated dispersed operation of production and service activities in such industries as manufacturing, aerospace, transportation, material handling, and health care (Burisch and Raatz, 2011;Hanna, 2012).…”

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Toward a smarter enterprise

Muthusamy

Dass

2014

Competitiveness Review

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Purpose -The purpose of this paper is to trace the emergence of knowledge-centric innovative enterprises that function in a disaggregated and dispersed form and further contemplate the economic and managerial rationale behind this strategy. A constant challenge to large organizations as well as those pursuing the intent to grow bigger is how to sustain the innovative dynamism. Design/methodology/approach -The authors review the evolution of disaggregated and dispersed enterprises and discuss the changing cost structures for transactions, integration and coordination in the global knowledge economy. They elaborate the benefits of scale reduction and dispersed operations with examples. Findings -Their review of the extant practices suggests that managers are finding value in disaggregating the firm operations. Disaggregation enhances the firm agility and responsiveness and helps the firm exploit the fleeting opportunities without incurring the opportunity cost or risking high investment. Practical implications -Corporations need to become nimble, and their structure should be networked and permeable with significant industry actors. Integration would be imprudent if there is huge sunk cost due to uncertainty in business. Scale reduction and disaggregation, and operating in a dispersed mode -like a shoaling form -would help the companies exploit the fleeting opportunities without incurring the opportunity cost and risking high investment. Originality/value -In addition to reviewing the rise of disaggregated enterprises, we explore the economic and managerial rationale of the disaggregation strategy, and discuss the learning and innovation, investment and cost-related advantages that stem from the disaggregated form of organization.

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