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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20302 - Applied mechanics

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název periodika

Journal of Mechanisms and Robotics

ISSN

1942-4302

e-ISSN

1942-4310

Svazek periodika

16

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

13

Strana od-do

—

Kód UT WoS článku

001180415400014

EID výsledku v databázi Scopus

2-s2.0-85179760270