Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Palpacelli, Matteo-Claudio

doi:10.1016/j.rcim.2015.09.003

Cited by 11 publications

(5 citation statements)

References 25 publications

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“…Most of the patented technologies of researchers still remain at the stage of publishing papers, applying for patents, and the conferring of evaluating academic titles. The industrialization of patented technologies doesn't receive enough attention [8] . Of course, this also means that the industrialization of the patented technologies for industrial robots in China has huge potential to tap.…”

Section: Measures To Strengthen the Use Of Industrial Robots 51 Strementioning

confidence: 99%

Industrial Robot Technology and Its Typical Application Analysis

Chen¹

2018

JERA

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With the rising of the manufacturing industry in our neighboring countries, China no longer has advantages in manufacturing sector. New development situation and tasks make it extremely urgent to establish a new manufacturing system featuring standardization, modularization, network and intelligence. Therefore, research on industrial robot technology is of great practical significance. It is believed that in the near future, industrial robots will become an important driving force for the transformation and upgrade of China’s manufacturing industry.

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Section: Measures To Strengthen the Use Of Industrial Robots 51 Strementioning

confidence: 99%

Industrial Robot Technology and Its Typical Application Analysis

Chen¹

2018

JERA

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“…Li and Xu 6 proposed a 3-PRS parallel manipulator with adjustable layout angle of actuators, and investigated how the kinematic characteristics in terms of workspace and dexterity vary with differences in the arrangement of actuators. Palpacelli 7 proposed adding a cable mechanism to increase the static performance of the robot, established a kineto-static model of the cable-driven parallel manipulator device, and carried out simulation verification. Luo et al.…”

Section: Introductionmentioning

confidence: 99%

Performance analysis and optimization of a rigid-flexible parallel manipulator

Cui

Liu

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to meet the design requirements of friction stir welding equipment, a three-degree-of-freedom rigid-flexible 3UPS-UP-3Cable-Driven (3UPS-UP-3CD) parallel manipulator was applied to the main feed mechanism of the friction stir welding robot. The kinematics analysis of the new parallel manipulator was carried out, and the complete homogeneous dimensional Jacobian matrix of the 3UPS-UP-3CD manipulator was solved. Through kinematic performance analysis, the carrying capacity, dexterity and stiffness of 3UPS-UP-3CD manipulator are obviously better than 3UPS-UP mechanism, and the impact of cables on the workspace can also be eliminated by adjusting the dimension parameter. The composite quality workspace map of the manipulator was drawn, and the composite kinematic performance index was proposed. Multiobjective optimization was completed for 3UPS-UP-3CD manipulator, and its performance was improved. The dynamic analysis of the manipulator was carried out, and the driving forces of two mechanisms were calculated under two trajectories. The results showed that the maximum driving force of 3UPS-UP-3CD manipulator was lower than 3UPS-UP mechanism, which proved that 3UPS-UP-3CD manipulator was more suitable for heavy-duty conditions.

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“…Wu et al 6 designed a heavy FSW robot for large-scale complex surface welding, and the test results show that the robot has high stiffness and meets the requirements of welding precision. Palpacelli 7 put forward an auxiliary cable-driven system on the end-effector of the robot, which is used to increase the stiffness and the static performance of the robot. Maldonado-Echegoyen et al 8 even designed parallel robots to improve the machining precision.…”

Section: Introductionmentioning

confidence: 99%

An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains

Sun

Fang

2018

Advances in Mechanical Engineering

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Industrial robots have advantages of large workspace, compact structure, and good flexibility, but the stiffness of the robot is relatively weak due to the compliance of reducers and its series structure. In this article, a five-degree-of-freedom robot with non-backlash driving is presented. A parallelogram structure with diagonal driven is used for robotic arms which is useful to improve the overall stiffness of the robot. First, the detailed structure of the robot is introduced, and the kinematic characteristics of the robot are analyzed. Second, a stiffness approximation method is proposed to evaluate the stiffness of the robot in the global workspace. The overall deformations under certain external loads which are composed of deflection deformations and stretching deformations are calculated based on the strain energy method and the properties of the components. The effectiveness of the approximation method used for evaluating the stiffness of the robot which has hybrid open-and closed-loop kinematic chains is verified through the finite element analysis results and the experimental results. Finally, the stiffness evaluation results show that the stiffness of the proposed robot is better than that of the industrial robot, which makes it more suitable for most of the industrial applications, such as handling, palletizing, and drilling.

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Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Cited by 11 publications

References 25 publications

Industrial Robot Technology and Its Typical Application Analysis

Industrial Robot Technology and Its Typical Application Analysis

Performance analysis and optimization of a rigid-flexible parallel manipulator

An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains

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