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Modelling of Mechanical Flexibilities in Robotic Manipulators and Evaluation of Their Impact on Motion Performance
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In order to achieve the best robot performance, the exibilities in the mechanical structures of a robot manipulator needs to be modelled and compensated for, when designing a controller. By examining how each flexible component contribute to the overall dynamic performance, the robot's mechanical design can be altered to optimised performance and minimise cost. In this report, mechanical properties of gearboxes and links are investigated andtheir impact on robot performance examined. Different modelling approaches are presented for these components. A nite-element model of the link arm is reduced by using the Craig-Bampton method. Torsional exibility and hysteresis of the gearboxes are modelled using a differential equation in combination with a polynomial. The models are implemented and evaluated in the simulation environment Dymola. An integration of complete robot models with aproprietary controller is done using FMI. The controller later controls the robotmodels and the results are compared with real robot measurements. Attempts to model the robotic link using the Craig-Bampton model prove unsuccessful due to software issues. Results from modelling the gearbox suggest that hysteresis has a negligible impact on the robot's precision. Also, the hysteresis in this model is cancelled out by oscillations in the gearbox that occursdue to high accelerations when the manipulator moves.

Abstract [sv]

För att uppnå optimal prestanda i en robotmanipulator bör flexibiliteten i robotens mekaniska komponenter modelleras och kompenseras för i av reglersystem. Genom att undersöka hur komponenterna bidrar till robotens övergripande prestanda och precision kan designen av roboten optimeras och för att minimera kostnader. I denna rapport undersöks mekaniska egenskaper i växellådor och länkarmar och hur dessa påverkar robotens prestanda och precision. Olika tillvägagångssätt för att modellera dessa presenteras. En Craig-Bampton-reduktion av FEMmodeller av lankarmarna genomförs. Växellådornas flexibilitet och hysteresmodelleras genom en differentialekvation och ett polynom. En integration av robotmodell med ett virtuellt reglersystem genomförs och presenteras. Den virtuella robotmodellen styrs genom reglersystemet och resultaten jämförs med riktiga mätningar från en existerande robot. Försöket att modellera länkarmana via Craig-Bampton-reduktionen misslyckas på grund av brister i mjukvara. Resultat från hysteresmodellen antyder att hysteres har en försumbar inverkan på robotens precision. Dessutom visar sig deformationer från hysteresmodellen försvinna på grund av oscillationer som uppstår när roboten arbetar.

Place, publisher, year, edition, pages
2016. , p. 100
Series
MMK 2016.173
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-200841OAI: oai:DiVA.org:kth-200841DiVA, id: diva2:1071086
External cooperation
ABB
Supervisors
Examiners
Available from: 2017-02-03 Created: 2017-02-03Bibliographically approved

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CiteExportLink to record
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