Stiffness increase and homogenization by coupled robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F25%3A00378436" target="_blank" >RIV/68407700:21220/25:00378436 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/25:00378436
Result on the web
<a href="https://doi.org/10.1080/15397734.2024.2429732" target="_blank" >https://doi.org/10.1080/15397734.2024.2429732</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1080/15397734.2024.2429732" target="_blank" >10.1080/15397734.2024.2429732</a>
Alternative languages
Result language
angličtina
Original language name
Stiffness increase and homogenization by coupled robots
Original language description
This article presents the explanation of higher than expected increase of stiffness of coupled robots in some geometric configurations against its expected simple addition. This phenomenon was named the vault principle for robots. In order to achieve that and to explore fully the consequences it was necessary to develop a new method for robot stiffness analysis. Single serial robot is compared with two serial robots mutually connected. Connected (coupled) robots are analyzed in five various topological configurations. The end effector stiffness field is evaluated at particular points of intersections of workspaces of five topological configurations in order to preserve the objectivity of the comparison. The new method for robot stiffness analysis is based on the evaluation of minimum/maximum values of principal axes of stiffness distribution determined by the singular value decomposition. The manimum/maximum values across the workspace are processed by average/median and used for computing homogeneity factor. It is a new integral criterion for robot topology configuration judgment. The direct implications of these findings are relevant to high-precision milling applications in cooperative robotic setups.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Mechanics Based Design of Structures and Machines
ISSN
1539-7734
e-ISSN
1539-7742
Volume of the periodical
53
Issue of the periodical within the volume
5
Country of publishing house
US - UNITED STATES
Number of pages
18
Pages from-to
3572-3589
UT code for WoS article
001361018000001
EID of the result in the Scopus database
2-s2.0-105003426281