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Elastic deformation modeling of series robots with consideration of gravity

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Abstract

In this paper, an elastic deformation modeling method of series robots with consideration of gravity that combines the finite element structure method (FESM) with the virtual joint method (VJM) is proposed to improve the positioning accuracy of robots. This method has characteristics of low computational complexity, high precision, as well as high real time. Compared with the previous research, the influence of joint and link mass on the elastic deformation of robots can be considered. Firstly, the entire robot model is split into several independent components and these components are expressed as a combination of a rigid body and a 6-Dofs virtual joint. Through the VJM, an extended kinematic model of series robots is built with these 6-Dofs virtual joints. Secondly, the stiffness parameters of robot components or virtual joints are extracted and considered comprehensively by the FESM. Thirdly, according to the extended kinematic model, the elastic deformation model is established to obtain the positioning error caused by external wrenches and gravity of robots. Lastly, a series robot SHIR5-II is taken as an illustration to perform elastic deformation modeling by the proposed method. Based on laser tracker and finite element software, the static compliance test, the static compliance simulation and the 7-Dofs VJM-based elastic deformation modeling of SHIR5-II robot are performed to verify the effectiveness of this modeling method.

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Funding

This work was supported by the Defense Industrial Technology Development Program of China [grant numbers JCKY2020206B008], the High-level Innovation and Entrepreneurship Talent Introduction Plan of Jiangsu Province [Grant No. JSSCBS20211456], the National Natural Science Foundation of China [grant numbers 51405482], the Key Program of the Chinese Academy of Sciences [grant numbers KGZD-EW-608-1].

Author information

Authors and Affiliations

  1. Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, 222061, China

    Mingwei Hu, Liangchuang Liao & Hongwei Sun

  2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Mingwei Hu, Hongguang Wang & Xinan Pan

  3. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China

    Hongguang Wang & Xinan Pan

Authors
  1. Mingwei Hu
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  2. Hongguang Wang
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  3. Xinan Pan
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  4. Liangchuang Liao
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  5. Hongwei Sun
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by MH, HW and XP. The first draft of the manuscript was written by MH and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Mingwei Hu.

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Cite this article

Hu, M., Wang, H., Pan, X. et al. Elastic deformation modeling of series robots with consideration of gravity. Intel Serv Robotics 15, 351–362 (2022). https://doi.org/10.1007/s11370-022-00426-6

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  • DOI: https://doi.org/10.1007/s11370-022-00426-6

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