Stiffness modeling of an industrial robot with a gravity compensator considering link weights

Xu, Peng; Yao, Xiling; Liu, Shibo; Wang, Hao; Liu, Kui; Kumar, Abhishek; Lu, Wen Feng; Bi, Guijun

doi:10.1016/j.mechmachtheory.2021.104331

Cited by 35 publications

(11 citation statements)

References 33 publications

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“…It can ensure that the relative electrical signals are generated during each stretching, and the reset electrical signals will not exceed the working range. The real‐time linear mapping technology combines high‐precision modules sampling and high‐speed Bluetooth short‐range transmission characteristics to achieve near 0 delay linear mimicry motion, [ 63 ] which is different from the existing control methods. [ 64 ] The experimental results show that MXene/PAA hydrogel can not only control the manipulator to complete a simple opening and closing state, but also feel subtle deformation and achieve continuous hovering, following and other movements (Figure 6c; Video S3, Supporting Information).…”

Section: Resultsmentioning

confidence: 99%

Stretchable and Photothermal MXene/PAA Hydrogel in Strain Sensor for Wearable Human‐Machine Interaction Electronics

Bai

et al. 2023

Adv Materials Technologies

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provides the accurate and real-time external information for machine. [9] The materials of flexible sensor should comply with the following criteria: i) excellent flexibility to match human tissue, ii) high and stable conductivity to rapidly and reliably respond the signals, iii) tight adhesion to human body surface, iv) safety and nontoxic to contact with the human body. Hydrogel is a kind of highly hydrophilic 3D network gel, which are like human tissues in structure and composition. [10] For example, our research group has prepared a 3D porous cellulose hydrogel to realize a highly sensitive flexible strain sensor. [11] Tao et al. fabricated a micropyramid-patterned double-network ionic organ hydrogels for flexible sensor to detect subtle pressure changes. [12] They are desirable to satisfy the requirement of flexible sensor by the unique properties including flexibility, extreme precision, high durability, and skin-friendliness by the adjusted structure and components. At present, it is limited to the development of a single function in wearable HMI electronics. However, it is still a challenge to develop multifunction hydrogel with excellent properties for high-precision flexible strain sensor to achieve precise control in wearable HMI electronics.The personal thermal management (PTM) technology provides specific temperature control and health monitoring for various novel interactive ways of wearable HMI electronics, and effectively improve practicality and user experience. [13,14] As one of the representative categories, photothermal conversion technology converts light energy into thermal energy by reflection and absorption, which conforms to the concept of energy saving and has been applied in PTM technology. [15,16] Nowadays, flexible hydrogels with excellent photothermal property have been obtained by introducing photothermal conversion agents (i.e., carbon nanomaterials, [17] organic materials, [18] metal materials, [19] and semiconductor materials [20] ) into the matrix.As a new type of 2D transition metal carbides and nitrides, MXene has exhibited prominent photothermal conversion performance due to the profits from high light absorption and the localized surface plasmon resonance (LSPR) effect. [21,22] Accordingly, MXene hydrogel is one of the suitable candidates for flexible photothermal materials, which can be used in the Wearable human-machine interaction (HMI) is an advanced technology that realizes operations, collaborations, and interactions between human and machines in a co-located or coordinated way. As the core component of wearable HMI electronics, the flexible sensor is desirable to be intelligent, accurate, collaborative, and multifunctional for the feedback control. Here, the multifunctional MXene/polyacrylic acid (PAA) hydrogel is prepared by radical polymerization. As a flexible strain sensor, it exhibits high sensitivity (gauge factor ≈4.94), wide detection range (0-1081%) and stable signal output for 500 cycles. It can also monitor human movement and operate manipulator in real tim...

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Section: Resultsmentioning

confidence: 99%

Stretchable and Photothermal MXene/PAA Hydrogel in Strain Sensor for Wearable Human‐Machine Interaction Electronics

Bai

et al. 2023

Adv Materials Technologies

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“…By establishing the deformation coordinate system of the connecting rod, the deformation is unified and the calculation is simplified. Xu et al 9 proposed a method for establishing an equivalent stiffness model considering the gravity of the connecting rod, and established the mapping relationship between the force and deformation of the Cartesian space and the joint space respectively. Busson et al 10 established the stiffness model of the seven-degree-of-freedom humanoid manipulator with SRS configuration, and analyzed and compared the stiffness differences of different arm angles at the same position.…”

Section: Introductionmentioning

confidence: 99%

A stiffness modeling method for redundant degree-of-freedom manipulator considering gravity

Dong,

Jiajin,

Han

et al. 2024

Third International Conference on Advanced Manufacturing Technology and Electronic Information (AMTEI 2023)

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Aiming at the problem that the large weight of the construction robot cannot be ignored in the process of stiffness modeling, this paper proposes a stiffness modeling method of non-rotational drive joint redundant degree of freedom manipulator considering gravity. Firstly, the structural characteristics of the redundant degree of freedom manipulator are introduced, and the inverse kinematics is solved by using the self-motion characteristics of the redundant degree of freedom manipulator. Then, the force and deformation analysis of the parallelogram mechanism is carried out by using the equivalent principle of the force system and the translation theorem of the force, and the stiffness modeling is carried out based on the principle of virtual work. Finally, considering the gravity factor, the overall force and deformation analysis of the manipulator is completed, and the comprehensive stiffness model of the manipulator is established. The stiffness is analyzed according to the self-motion characteristics of the manipulator. The results show that under the influence of gravity and external force, the stiffness difference of the manipulator with different redundant angles at the same position can reach 240 %, and the proportion of gravity factor in deformation can reach 72 %. The research in this paper reveals the significant differences in the stiffness of the manipulator under different redundant angles. The established stiffness model is more in line with the actual situation and lays a foundation for further optimization research.

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“…However, all these stiffness models consider the gravity of the link as an external load acting on the end-effector without considering the influence of the end-effector gravity and the mass center position of the link. Also, Xu et al 30 proposed a stiffness modeling method considering the gravity combined with the deflection superposition principle applied to heavy industrial tandem robots. But this modeling method is not part of the VJM family of methods and has not been applied to parallel robots.…”

Section: Introductionmentioning

confidence: 99%

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

Guan

Zou

et al. 2023

Sci Rep

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For the machining process of industrial parallel robots, the gravity generated by the weight of mobile platform and links will lead to the deviation of the expected machining trajectory of the tool head. In order to evaluate this deviation and then circumvent it, it is necessary to perform the robotic stiffness model. However, the influence of gravity is seldom considered in the previous stiffness analysis. This paper presents an effective stiffness modeling method for industrial parallel robots considering the link/joint compliance, the mobile platform/link gravity, and the mass center position of each link. First, the external gravity corresponding to each component is determined by the static model under the influence of gravity and mass center position. Then, the corresponding Jacobian matrix of each component is obtained by the kinematic model. Subsequently, the compliance of each component is obtained by cantilever beam theory and FEA-based virtual experiments. In turn, the stiffness model of the whole parallel robot is determined and the Cartesian stiffness matrix of the parallel robot is calculated at several positions. Moreover, the principal stiffness distribution of the tool head in each direction over the main workspace is predicted. Finally, the validity of the stiffness model with gravity is experimentally proved by the comparison of the calculated stiffness and measured stiffness in identical conditions.

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Stiffness modeling of an industrial robot with a gravity compensator considering link weights

Cited by 35 publications

References 33 publications

Stretchable and Photothermal MXene/PAA Hydrogel in Strain Sensor for Wearable Human‐Machine Interaction Electronics

Stretchable and Photothermal MXene/PAA Hydrogel in Strain Sensor for Wearable Human‐Machine Interaction Electronics

A stiffness modeling method for redundant degree-of-freedom manipulator considering gravity

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

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