Reduction of End Effector Sensitivity to Robot Arm Structural Deflections by Implementation of a New Micromanipulator Design

当前工业机器人端点定位精度差，限制了其在容错任务中的应用。本研究的重点是通过在末端执行器上安装额外的传感器和致动器来提高末端臂的精度。其基本原理是使夹持器对连杆的静态和动态挠度不敏感。这项技术需要设计和开发一种新的传感器和执行器，能够测量和纠正手臂末端在垂直和水平方向上的横向偏转。为了将补偿臂端偏转的问题从机械臂的整体控制问题中分离出来，额外的传感器和执行器将在由伺服回路控制器控制的单个柔性梁上进行测试。建立了描述柔性连杆刚柔结合运动的数学模型。所提出的方法的性能将通过数字仿真研究进行评估。进一步的评估将通过在实际的柔性连杆上测试传感器和执行器来进行。

Poor endpoint positional accuracy of current industrial robots has restricted their applications to tasks that are error tolerant. This research focuses on improving end-of-arm accuracy by mounting additional sensors and actuators on the end effector. The rationale is to make the gripper insensitive to link static and dynamic deflections. This technique requires design and development of a new sensor and actuator capable of measuring and correcting the end-of-arm transverse deflections in the vertical and horizontal directions. To separate the issue of compensating for the end-of-arm deflections from the overall control problem of the robot arm, the additional sensors and actuators will be tested on a single flexible beam controlled by a servo loop controller. A mathematical model describing the combined rigid and flexible motions of the compliant link will be developed. Performance of the proposed approach will be evaluated through digital simulation studies. Further evaluation will be performed by testing the sensor and actuator on an actual flexible link.