Implementation of manipulator with rotary and translational axis using electronic cams

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46709002%3A_____%2F20%3AN0000035" target="_blank" >RIV/46709002:_____/20:N0000035 - isvavai.cz</a>

Výsledek na webu

<a href="https://link.springer.com/chapter/10.1007/978-3-030-60076-1_43" target="_blank" >https://link.springer.com/chapter/10.1007/978-3-030-60076-1_43</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-60076-1_43" target="_blank" >10.1007/978-3-030-60076-1_43</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Implementation of manipulator with rotary and translational axis using electronic cams

Popis výsledku v původním jazyce

This article deals with the complete implementation of the control system for a newly developed manipulator. The system is based on electronic cams defining the movement of the rotary and translation axes of the manipulator. The endpoint trajectory is only partially defined. The key point is the design of suitable displacement diagrams for individual drives. A specific software tool has been developed for this purpose, allowing detailed adjustments of the dynamic parameters of displacement diagrams while also checking the endpoint trajectory. The control system logic had to adapt to the design constraints of the task while allowing the most efficient operation for maximum machine cycle. A side effect of increasing the machine cycle is increasing the positional error of the resulting trajectory. At the end of the article, it is demonstrated how this effect can be partially eliminated due to the applied control concept.

Název v anglickém jazyce

Implementation of manipulator with rotary and translational axis using electronic cams

Popis výsledku anglicky

This article deals with the complete implementation of the control system for a newly developed manipulator. The system is based on electronic cams defining the movement of the rotary and translation axes of the manipulator. The endpoint trajectory is only partially defined. The key point is the design of suitable displacement diagrams for individual drives. A specific software tool has been developed for this purpose, allowing detailed adjustments of the dynamic parameters of displacement diagrams while also checking the endpoint trajectory. The control system logic had to adapt to the design constraints of the task while allowing the most efficient operation for maximum machine cycle. A side effect of increasing the machine cycle is increasing the positional error of the resulting trajectory. At the end of the article, it is demonstrated how this effect can be partially eliminated due to the applied control concept.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20302 - Applied mechanics

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

New Advances in Mechanisms, Mechanical Transmissions and Robotics

ISBN

978-3-030-60075-4

ISSN

2211-0984

e-ISSN

—

Počet stran výsledku

11

Strana od-do

477-487

Název nakladatele

Springer

Místo vydání

Rumunsko

Místo konání akce

Timişoara, Romania

Datum konání akce

15. 10. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—