Design of target trajectories for the detection of joint clearances in parallel robot based on the actuation torque measurement
Design of target trajectories for the detection of joint clearances in parallel robot based on the actuation torque measurement
复制标题
DOI：
10.1016/j.mechmachtheory.2020.104081
复制
发表时间：
2021-01-01
影响因子：
5.2
通讯作者：
Takeda, Yukio
中科院分区：
文献类型：
--
作者：
Ohno, Masumi;Takeda, Yukio
This paper proposed a design method of trajectories for detecting the excessive clearances of passive joints in a DELTA robot on the basis of the phenomenon that the actuation torque waveform fluctuates due to the collision between joint elements. We introduced "Joint Impact Index," as an index to evaluate the magnitude of actuation torque fluctuation due to the collision at the passive joints with clearances. In order to simplify the problem of the clearance detection, this paper proposed to use a trajectory specially designed for the detection of each joint's clearance, called "target trajectory".为了设计目标轨迹，基于联合影响指数定义了目标函数。 Target trajectories obtained by solving the multi-objective optimization problem were applied to an industrial robot, and experiments were conducted. The relation between the detection performance in the experiments and the distribution of Joint Impact Index for the designed target trajectories was investigated and the effectiveness of the proposed method was discussed. (C) 2020 Elsevier Ltd. 保留所有权利。
This paper proposed a design method of trajectories for detecting the excessive clearances of passive joints in a DELTA robot on the basis of the phenomenon that the actuation torque waveform fluctuates due to the collision between joint elements. We introduced "Joint Impact Index," as an index to evaluate the magnitude of actuation torque fluctuation due to the collision at the passive joints with clearances. In order to simplify the problem of the clearance detection, this paper proposed to use a trajectory specially designed for the detection of each joint's clearance, called "target trajectory". For the design of the target trajectory, objective functions were defined based on the Joint Impact Index. Target trajectories obtained by solving the multi-objective optimization problem were applied to an industrial robot, and experiments were conducted. The relation between the detection performance in the experiments and the distribution of Joint Impact Index for the designed target trajectories was investigated and the effectiveness of the proposed method was discussed. (C) 2020 Elsevier Ltd. All rights reserved.