Method for robot manipulator joint wear reduction by finding the optimal robot placement in a robotic cell

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10247611" target="_blank" >RIV/61989100:27230/21:10247611 - isvavai.cz</a>

Alternative codes found

RIV/61989100:27240/21:10247611 RIV/61989100:27740/21:10247611

Result on the web

<a href="https://www.mdpi.com/2076-3417/11/12/5398" target="_blank" >https://www.mdpi.com/2076-3417/11/12/5398</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app11125398" target="_blank" >10.3390/app11125398</a>

Result language

angličtina

Original language name

Method for robot manipulator joint wear reduction by finding the optimal robot placement in a robotic cell

Original language description

We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory. (C) 2021 by the authors. Licensee MDPI, Basel, Switzerland.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Applied Sciences

ISSN

2076-3417

e-ISSN

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Volume of the periodical

11

Issue of the periodical within the volume

12

Country of publishing house

CH - SWITZERLAND

Number of pages

19

Pages from-to

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UT code for WoS article

000665958300001

EID of the result in the Scopus database

2-s2.0-85108647202