Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F24%3A00368140" target="_blank" >RIV/68407700:21730/24:00368140 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1115/1.4062672" target="_blank" >https://doi.org/10.1115/1.4062672</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1115/1.4062672" target="_blank" >10.1115/1.4062672</a>

Result language

angličtina

Original language name

Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts

Original language description

This paper deals with motion modeling of a 5-axis industrial Delta robot. The robot has extra rotational two degrees-of-freedom (DoF) realized with a wrist arm driven through two co-axial telescopic shafts as compared to the basic 3-DoF Delta robot. The kinematic model is derived with fully symbolic Jacobian matrices. Using the derived Jacobians, a novel simplified dynamic model is proposed based on the virtual work principle and the trajectory dependent artificial mass distribution. As compared to the existing literature, the proposed dynamic model does not require Lagrangian multiplier calculation or recursive and parallel computing so that it provides advantage for model-based control design. Also a linear regression model is provided to identify the dynamic parameters. The presented models are suitable to be employed for basic Delta and the extended Delta robots with parallel telescopic shafts as well. The derived models are verified through a Simulink model where the 3D CAD files of robot bodies having the information of real dimensions, masses and moments of inertia are used. The adequate agreement of the proposed dynamic model with the simulation results is illustrated via performing three different generated trajectory profiles. We also demonstrate the better accuracy of the proposed dynamic model as compared to a simplified and widely employed model for basic 3-DoF Delta robot. The simulation model is shared online to serve as a research and test platform for performing tasks such as motion planning, model prototyping, and control design.

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

20302 - Applied mechanics

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

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

Publication year

2024

Confidentiality

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

Name of the periodical

Journal of Mechanisms and Robotics

ISSN

1942-4302

e-ISSN

1942-4310

Volume of the periodical

16

Issue of the periodical within the volume

4

Country of publishing house

US - UNITED STATES

Number of pages

13

Pages from-to

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UT code for WoS article

001180415400014

EID of the result in the Scopus database

2-s2.0-85179760270