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Modelling and Measurement of Industrial Manipulators for High-Precision Contact Applications
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This study was conducted with the objective of predicting the accuracy of robotic manipulator models in contact applications. A number of computational robot models, including lumped-parameters models and flexible-body elastic models were used and refined to evaluate the behavior of a manipulator under static, quasi-static and dynamic loading conditions. The simulations were then compared with experimental measurements conducted in the forms of static, quasi-static and dynamic compliance-evaluation series. Additionally, contact application models were constructed and utilized to simulate and assess the associated accuracy level of contact processes involving robotic manipulators.

Results included comprehensive joint-space maps of the manipulator with respect to stiffness which showed the high dependency of the compliance on the configuration of the robot. Computational estimations of heavy-duty contact applications with robotic manipulators predicted the occurrence of self-excited oscillations and low stiffness of the robot when compared to traditional CNC machines. Recommendations and guidelines are derived based on the results to improve the current state of the art and overcome the challenges associated with these applications in the future

Abstract [sv]

Denna studie genomfördes med målet att förutsäga noggrannheten hos robotmodulatormodeller i kontaktapplikationer. Ett antal beräkningsmässiga enskilda robotmodeller, inklusive klumpparametermodeller och flexibla elastiska modeller, användes för att utvärdera beteendet hos en manipulator under statiska, kvasistatiska och dynamiska belastningsförhållanden. Beräkningarna förfinades och simuleringarna jämfördes sedan med replikerade experimentella mätningar utförda i form av statisk, kvasistatisk och en serie av styvhetsutvärderingar. Dessutom konstruerades kontaktapplikationsmodeller och användes för att simulera och utvärdera den associerade noggrannhetsnivån av kontaktprocesser som involverar robotmanipulatorer.

Resultatet består av 3D-grafer som visualiserar manipulatorns styvhet med avseende på manipulatorns konfiguration. Beräkningar gjordes för att förutspå oscillationer i manipulatorn vid högt påkända kontaktapplikationer. Styvheten hos manipulatorn beräknades och jämfördes med styvheten hos traditionella CNC-maskiner. Resultaten ledde fram till rekommendationer och riktlinjer för att förbättra det nuvarande läget och för att övervinna utmaningarna med dessa applikationer i framtiden.

Place, publisher, year, edition, pages
2019.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-254313OAI: oai:DiVA.org:kth-254313DiVA, id: diva2:1330457
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Available from: 2019-06-26 Created: 2019-06-25 Last updated: 2019-06-26

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CiteExportLink to record
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