Stability analysis of a novel mobile spray-painting robot for touch-up painting in vehicle repair plant

Zhang, Ruijie; Wu, Jun; Wang, Yutian

doi:10.1007/s12206-022-0438-6

Cited by 4 publications

(2 citation statements)

References 22 publications

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“…In addition, there is kinematic coupling between the articulated robotic arms, which makes it difficult to ensure stability and accuracy in large-scale spatial (e.g., planar spraying, chiseling, etc.) applications [6][7][8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

The Design of Decoupled Robotic Arm Based on Chain Transmission

Ma,

Ding,

et al. 2024

Machines

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Unlike the conventional robotic arm where the joints are coupled to each other, this paper proposes a position and posture decoupling method to mechanically correct the end position of the robotic arm in real time through dual-motion transmission, which is both motor-reducer-driven and chain-driven; when the position of the end of the robotic arm changes, the positional linkage of each articulated arm end is unaffected. First, a single-section chain-driven decoupled robotic arm is constructed, and then the design of a two-degrees-of-freedom chain-driven decoupled robotic arm system is completed based on a single arm. Second, kinematic analysis of the decoupled robotic arm system is performed to obtain its trajectory and workspace. Moreover, an analysis of the transmission mechanism engagement clearance error is carried out. Finally, a mini-experimental prototype is built, and the rationality of the decoupled robotic arm system is proven by experiments. The experimental results show that the robotic arm is generally able to realize positional decoupling stably during movement, providing certain theoretical support and practical experience for the design requirements of related robotic arms.

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Section: Introductionmentioning

confidence: 99%

The Design of Decoupled Robotic Arm Based on Chain Transmission

Ma,

Ding,

et al. 2024

Machines

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“…An interesting example of the production process is when the workpiece is placed inside a strictly defined workspace in a completely random way, so that its position and orientation are variable, and the path has to be continuously adapted. Such cases can occur, for example, in processes of welding [1], [2], painting [3], [4], cleaning [5], transporting [6].…”

Section: Introductionmentioning

confidence: 99%

Trajectory optimization using learning from demonstration with meta-heuristic grey wolf algorithm

Pawlowski

Romaniuk

Kulesza

et al. 2022

IJRA

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<span>Nowadays, most robotic systems perform their tasks in an environment that is generally known. Thus, robot's trajectory can be planned in advance depending on a given task. However, as a part of modern manufacturing systems which are faced with the requirements to produce high product variety, mobile robots should be flexible to adapt to changing and diverse environments and needs. In such scenarios, a modification of the task or a change in the environment, forces the operator to modify robot's trajectory. Such modification is usually expensive and time-consuming, as experienced engineers must be involved to program robot's movements. The current paper presents a solution to this problem by simplifying the process of teaching the robot a new trajectory. The proposed method generates a trajectory based on an initial raw demonstration of its shape. The new trajectory is generated in such a way that the errors between the actual and target end positions and orientations of the robot are minimized. To minimize those errors, the grey wolf optimization (GWO) algorithm is applied. The proposed approach is demonstrated for a two-wheeled mobile robot. Simulation and experimental results confirm high accuracy of generated trajectories.</span>

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Optimization design of a parallel surgical robot with remote center of motion

Qiu

Zhu

2023

Mechanism and Machine Theory

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Stability analysis of a novel mobile spray-painting robot for touch-up painting in vehicle repair plant

Cited by 4 publications

References 22 publications

The Design of Decoupled Robotic Arm Based on Chain Transmission

The Design of Decoupled Robotic Arm Based on Chain Transmission

Trajectory optimization using learning from demonstration with meta-heuristic grey wolf algorithm

Optimization design of a parallel surgical robot with remote center of motion

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