Stiffness increase and homogenization by coupled robots

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/25:00378436

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Stiffness increase and homogenization by coupled robots

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Stiffness increase and homogenization by coupled robots

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

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

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název periodika

Mechanics Based Design of Structures and Machines

ISSN

1539-7734

e-ISSN

1539-7742

Svazek periodika

53

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

18

Strana od-do

3572-3589

Kód UT WoS článku

001361018000001

EID výsledku v databázi Scopus

2-s2.0-105003426281