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

Kód výsledku v 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>

Nalezeny alternativní kódy

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

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

12

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

—

Kód UT WoS článku

000665958300001

EID výsledku v databázi Scopus

2-s2.0-85108647202