An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains
An approximation method for stiffness calculation of robotic arms with hybrid open- and closed-loop kinematic chains
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开闭环混合运动链机械臂刚度计算的近似方法
DOI：
10.1177/1687814018761297
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发表时间：
2018-02
影响因子：
2.1
通讯作者：
Fang Lijin
中科院分区：
文献类型：
--
作者：
Sun Longfei;Fang Lijin
工业机器人具有工作空间大、结构紧凑、柔韧性好等优点，但由于减速器及其串联结构的顺应性，使得机器人的刚度相对较弱。本文提出了一种无间隙驱动的五自由度机器人。机械臂采用对角线驱动的平行四边形结构，有助于提高机器人的整体刚度。首先，介绍了机器人的详细结构，分析了机器人的运动特性。其次，提出了一种刚度逼近方法来评估机器人在全局工作空间中的刚度。根据应变能法和构件的特性，计算了在一定载荷作用下由挠曲变形和拉伸变形组成的整体变形。通过有限元分析结果和实验结果，验证了逼近法对开闭环混合运动链机器人刚度评估的有效性。最后，刚度评价结果表明，所提机器人的刚度优于工业机器人，更适合于搬运、码垛、钻孔等大多数工业应用。
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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DOI：
10.1109/icmech.2009.4957196
发表时间：
2009-04
期刊：
2009 IEEE International Conference on Mechatronics
影响因子：
--
作者：
Satoru Kumagai;K. Ohishi;T. Miyazaki
通讯作者：
Satoru Kumagai;K. Ohishi;T. Miyazaki
DOI：
10.1108/ir-01-2015-0009
发表时间：
2015-06
期刊：
Ind. Robot
影响因子：
--
作者：
Jiafeng Wu;Rui Zhang;Guangxin Yang
通讯作者：
Jiafeng Wu;Rui Zhang;Guangxin Yang
DOI：
10.1109/robot.2001.933124
发表时间：
2001-05
期刊：
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
影响因子：
--
作者：
Tian Huang;Xingyu Zhao;D. Whitehouse
通讯作者：
Tian Huang;Xingyu Zhao;D. Whitehouse
DOI：
10.1108/ir-07-2012-387
发表时间：
2013-11
期刊：
Ind. Robot
影响因子：
--
作者：
M. Slamani;I. Bonev
通讯作者：
M. Slamani;I. Bonev
影响因子：
2.7
作者：
G. D. L. S. Júnior;J. Carvalho;R. Gonçalves
通讯作者：
G. D. L. S. Júnior;J. Carvalho;R. Gonçalves