Nothing Special   »   [go: up one dir, main page]

Zhao et al., 2022 - Google Patents

Non-linear stiffness behavior of planar serial robotic manipulators

Zhao et al., 2022

View PDF
Document ID
11937303531875436156
Author
Zhao W
Klimchik A
Pashkevich A
Chablat D
Publication year
Publication venue
Mechanism and Machine Theory

External Links

Snippet

The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two important cases are considered, where the manipulator has either a straight or non-straight …
Continue reading at arxiv.org (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40611—Camera to monitor endpoint, end effector position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Similar Documents

Publication Publication Date Title
Pashkevich et al. Enhanced stiffness modeling of manipulators with passive joints
Rezaei et al. An investigation on stiffness of a 3-PSP spatial parallel mechanism with flexible moving platform using invariant form
Li et al. Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator
Huo et al. The self-adaptation of weights for joint-limits and singularity avoidances of functionally redundant robotic-task
Ghafoor et al. Stiffness modeling of the soft-finger contact in robotic grasping
Wu et al. Optimal design of a 2-DOF parallel manipulator with actuation redundancy considering kinematics and natural frequency
Yang et al. Multi-objective optimization of parallel manipulators using a game algorithm
Gan et al. Design of a compliant adjustable constant-force gripper based on circular beams
Meng et al. An evaluation approach for motion-force interaction performance of parallel manipulators with closed-loop passive limbs
Simaan et al. Geometric interpretation of the derivatives of parallel robots’ Jacobian matrix with application to stiffness control
Zhang et al. A curved-beam based quasi-constant force mechanism supporting large range and force-sensitive robotic manipulation
Arian et al. Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator
Nguyen et al. Static and dynamic characterization of the 6-Dofs parallel robot 3CRS
Fan et al. A new approach to enhance the stiffness of heavy-load parallel robots by means of the component selection
Wang et al. Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real-time control
Wang et al. Research on the error transfer characteristics of a 3-DOF parallel tool head
Caro et al. Multiobjective design optimization of 3–prr planar parallel manipulators
Vu et al. An analytical stiffness method for spring-articulated planar serial or quasi-serial manipulators under gravity and an arbitrary load
Zhao et al. Non-linear stiffness behavior of planar serial robotic manipulators
Zhu et al. Optimum design of 2-DOF parallel manipulators with actuation redundancy
Klimchik et al. Static stability of manipulator configuration: Influence of the external loading
Rezaei et al. Compliance error modeling for manipulators considering the effects of the component weights and the body and joint flexibilities
Ryu et al. Optimal architecture design of parallel manipulators for best accuracy
Kuresangsai et al. Grasp stability and design analysis of a flexure-jointed gripper mechanism via efficient energy-based modeling
Carbone Stiffness analysis for grasping tasks