关于机械手的英文文献

Industrial Robots for Manipulation with Parallel

Kinematic Machines

Zdeněk Kolíbal

Brno University of Technology, Faculty of Mechanical Engineering, Technicka 2, 616 69 Brno, Czech Republic, e-mail: kolibal@fme.vutbr.cz Abstract: The presented article analyses structures of kinematic chains in industrial robots, i.e. their positioning and orientation mechanisms with respect to positioning of end - effectors within the workspace of parallel kinematic machine and in its vicinity with the aim to facilitate a selection of appropriate industrial robot for automatic in –between operational manipulation in the periphery of such a machine or production systems.

Keywords: Industrial robot, kinematic chain, linkage, arrangement, machining centre, parallel kinematic

I INTRODUCTION

With development of control systems and computer technology, the construction of production machines, and machining centres in particular, has witnessed a revival of the so –called Steward platform positioned in space as a plane suspended evenly in three or six points by means of linear actuators. The same principle forms the basis of the industrial robot with this parallel kinematics of its basic kinematic chain - TRICEPT HP1. written in two columns.

One of the advantages of so designed machining centres is a relative ease of building them into the running work units. Here the use of industrial robots seems to be an appropriate form of in –between operational manipulations. However, the selection of robots cannot be casual; there has to be an all –sided adaptation of the robot to the construction and handling possibilities of parallel kinematic machines, i.e. adaptation in terms of morphology (architecture of kinematic chain, number of degrees of freedom), in terms of purpose (selection of appropriate end effectors, if possible automatically replaceable) and in terms of control [3].

If, however, the machining centre is not equipped with another manipulation peripheral device, as can be seen e.g. in Fig. 1, the industrial robot has to directly encompass the work space of the serviced machining centre and a flow of material (semi - products and work –pieces) is accomplished directly by this

industrial robot.

Figure 1a

Machining centre of company INGERSOLL

Figure 1b

Machining centre of company Kearney &

Trecker

In the case of periphery from Fig. 1, it is evident that a pertinent industrial robot to be used for further manipulation is not significantly limited in terms of mainly its morphology selection (kinematic structure); therefore these cases are not a subject of the present work.

A completely different is the case when a direct robotic manipulation is required for the machining centre with parallel kinematic, which is designed in terms of current trends, i.e. the components and mechanisms of the centre virtually encompass its workspace (see Fig. 2).

Figure 2a

Machining centre of FhI Chemnitz Current machining centres with parallel kinematics (see Fig. 2) can, in terms of industrial robot direct serviceability, rank among production machines with space –limited serviceability; therefore this should be taken into account for the selection of industrial robots.

Figure 2b

Machining centre of company GIDDING &

LEWIS

Figure 2c

Machining centre of company INGERSOLL

II BASIC AND DERIVED TYPES OF INDUSTRIAL ROBOTS As stated in most of the existing publications, basic types of industrial robots can be those described in Fig. 3:

Figure 3a

Cartesian type (K) with linkage of kinematic

pairs TTT

Figure 3b

Cylindrical type (C) with linkage of kinematic

pairs RTT

Figure 3c

Spherical type (S) with linkage of kinematic

pairs RRT

Figure 3d Anthropomorphous (angular, torus) type (A) with linkage of kinematic pairs

RRR

Further practical use and monitoring of robots development revealed the occurrence of industrial robots with a structure of kinematic pairs linkage different from that corresponding to basic workspaces as e.g. with the industrial robot "UM-160" or GE- ROBO; their structure ZKR can be expressed, as seen in Fig. 4, by a kinematic pairs linkage TRR. Practice therefore proved theory that sets for n - degrees of freedom the number of possible linkages of kinematic pairs T and

R: m = 2n (1) where n is natural number.

Figure 4

Scheme of basic kinematic chain of industrial robots UM-160 and GE-ROBO For the practical and commonly used number of degrees of freedom n = 3, the basic so analysed number of linkages is extended in total up to

m =23 = 8 groups: TTT, RTT, TRT, TTR, RRT, RTR, TRR, RRR.

This set of linkages has already encompassed the above - mentioned structure of robot from Fig. 4; it is therefore possible to refer to a derived structure of the basic kinematic chain of this robot by virtue of its kinematic pairs. Each of kinematic pairs, employed in the basic kinematic chain, can however be further located in one of the three different directions given by the Cartesian system of coordinates x,y,z as follows:

translation (T) in the direction of coordinates X,Y,Z,

rotation (R) around these coordinates A,B,C,

wherefrom within the respective linkages, further possible different arrangements originate, e.g..Tx,Ty,Tz in contrast to Tx,Tz,Ty, etc.

The Institute of Production Machines, Systems and Robotics of FME BUT has been paying a long-time attention to the study of arrangements of positioning mechanisms. The use of the so –called combinatorial algorithms [1], [2], [5], their mathematical expression and morphological analysis with constructional evaluation enabled us to assess the arrangements in all eight linkages and to state that - out of 165 theoretically possible arrangements - 47 various non –isomorphous solutions can be used for constructional practice. However, some of the workspaces thus obtain the so – called “shel l” character. So far 13 arrangements have been used in practice as can be seen from the following evaluation:

In total 3+4+5+6+6+10+7+6 = 47 arrangements, out of these 8 “she ll”.

A performed theoretical analysis enables us to classify various types of IRaM within a set of possible types (basic and derived) and also provides us with premises for building up new constructions, e.g. the following designs of robot configurations to service machining centres with parallel kinematics.

III SELECTION AND DEVELOPMENT OF INDUSTRIAL ROBOTS SUITABLE TO SERVICE

MACHINING CENTRES WITH

PARALLEL KINEMATICS From configuration structures of basic types of industrial robots in Fig. 3 it is evident that the type “A”in particular is not suitable to service machining centres in Fig. 2. Questionable is also the above - described type “K“(linkage TTT, arrangement xszsy), whose locomotion in the basic direction (x s) is accomplished on the base that will undoubtedly form an inconvenient barrier in front of the machining centre. The above described types “K“, “C“(linkage RTT, arrangement CZX) and also type “S“(linkage RRT, arrangement CAY) seem to be more convenient for the required servicing because they have – as an end member of the basic kinematic chain – a protruding arm and types “K“and “C“ (l inkage RTT, arrangement CZX) even have a horizontal arm that can appropriately encompass the workspace of the machining centre [4]. The most suitable solution to meet these requirements is a portal design in the linkage of type “K“(TTT) with a subsequent vertical member in a sliding shoe design (z) and a horizontal member (y) at the end of the basic kinematic chain. This is therefore the arrangement XYZ but in a modified form xportalzy (see Fig. 5).

Figure 5a

with single horizontal arm

Figure 5b

with rotary dual arm to accelerate a

manipulation cycle

The locomotion of the horizontal arm of the industrial robot is however linked with certain problems related to its possible further rotation. The locomotion of end effectors of the basic kinematic chain, as seen in Fig. 5, is actually performed in front of and behind the robot base so that a complete rotation of the machining centre is in fact impossible. A possible dual arm (Fig. 5b) can form an angle of maximum 90°. A more suitable solution would be if the robot could drive a little forward from the machining centre or if it were not situated in the middle of the machining centre.

For these reasons, on the basis of morphological analysis, it will be presumably necessary to develop further modified types of industrial robots. One of the possibilities could be the use of shell structure with arrangement CAX (CBY) as seen in Fig. 6a, which could be convenient for machining centres with an external peripheral device (feeder), or a suspension modification of type SCARA with arrangement AAX (BBY), as seen in Fig. 6b, enabling a further sufficiently long second member of the basic kinematic chain to rotate by 180°outside the machining centre.

Figure 6a

arrangement CAX (CBY)

Figure 6b

arrangement AAX (BBY)

Conclusion

The presented selection and proposals for development of robotic systems to service machining centres with parallel kinematics are based on a long –time research of morphology of mobile robotic systems and industrial robots, respecting thus a relatively difficult access to workspace of these machining centres. A set of proposed

types is far from being complete; it rather strives to make a contribution to the specification of this problem and to the search for possible solutions. References

[1] Bělohoubek, P., Kolíbal, Z.: The

knowledge from the Research in

the Field of Robotics at UT Brno,

Czech Republic. In:

Automazione/Automation 1993,

BIAS, Milano, Italy, November

23-25, 1993, pp. 723-726

[2] Kolíbal,Z.: The Theory of the

Structures of Basic Kinematic

Chains in Industrial Robots and

this Effect on their Practical

Application. In: 8th International

Workshop on Robotics in Alpe-

Adria-Danube Region RAAD

1999, Edited by Franz Freyberger

and Günter Schmidt, München,

June 17-19, 1999, Technische

Universit?t München, Germany,

1999, ISBN 3-00-004482-5, pp.

127-132

[3] Knoflí?ek, R.- Marek, J.:

Obráběcí c entra a pr?myslové

roboty s paralelníkinematickou

strukturou. In: Strojírenská

vyroba, r o?ník 45, 1997, ?.1-2,

ISBN 0039-24567, pp. 9-11 [4] Kolíbal, Z.- Běl ohoubek, P.: Die

Analyse der geeigneten

Gestaltung des Industrie-roboters

für die Handhabung bei den

Bearbeitungszentren mit

paralleler Kinematik. In:.

Tagungsband des 2.Chemnitzer

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…Arbeits-genauigkeit von

Parallelkinematiken“, 12/13.

April 2000, Verlag

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928921-54-1, pp. 441-455 [5] Kolíbal, Z.: The theory of basic

kinematic chain structures and its

effect on their application in the

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7, p. 71

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机械手设计英文参考文 献原文翻译 Company number：【WTUT-WT88Y-W8BBGB-BWYTT-19998】

翻译人：王墨墨山东科技大学 文献题目：Automated Calibration of Robot Coordinates for Reconfigurable Assembly Systems 翻译正文如下： 针对可重构装配系统的机器人协调性的自动校准 T.艾利，Y.米达，H.菊地，M.雪松 日本东京大学，机械研究院，精密工程部 摘要 为了实现流水工作线更高的可重构性，以必要设备如机器人的快速插入插出为研究目的。当一种新的设备被装配到流水工作线时，应使其具备校准系统。该研究使用两台电荷耦合摄像机，基于直接线性变换法，致力于研究一种相对位置/相对方位的自动化校准系统。摄像机被随机放置，然后对每一个机械手执行一组动作。通过摄像机检测机械手动作，就能捕捉到两台机器人的相对位置。最佳的结果精度为均方根值毫米。 关键词： 装配，校准，机器人 1 介绍 21世纪新的制造系统需要具备新的生产能力，如可重用性，可拓展性，敏捷性以及可重构性 [1]。系统配置的低成本转变，能够使系统应对可预见的以及不可预见的市场波动。关于组装系统，许多研究者提出了分散的方法来实现可重构性[2][3]。他们中的大多数都是基于主体的系统，主体逐一协同以建立一种新的

配置。然而，协同只是目的的一部分。在现实生产系统中，例如工作空间这类物理问题应当被有效解决。 为了实现更高的可重构性，一些研究人员不顾昂贵的造价，开发出了特殊的均匀单元[4][5][6]。作者为装配单元提出了一种自律分散型机器人系统，包含多样化的传统设备[7][8]。该系统可以从一个系统添加/删除装配设备，亦或是添加/删除装配设备到另一个系统；它通过协同作用，合理地解决了工作空间的冲突问题。我们可以把该功能称为“插入与生产”。 表1：合作所需的调节和量度 在重构过程中，校准的装配机器人是非常重要的。这是因为，需要用它们来测量相关主体的特征，以便在物理主体之间建立良好的协作关系。这一调整必须要达到表1中所列到的多种标准要求。受力单元和方向的调整是不可避免的，以便使良好的协同控制得以实现。从几何标准上看，位置校准是最基本的部分。一般来说，校准被理解为“绝对”，即，关于特定的领域框架；或者“相对”，即，关于另一个机器人的基本框架。后者被称为“机器人之间的校准”。 个体机器人的校准已被广泛研究过了。例如，运动参数的识别就非常受欢迎。然而，很少有对机器人之间校准的研究。玉木等人是用一种基于标记的方法，在一个可重构的装配单元内，校准机器人桌子和移动机械手之间的相互位置/方向联系。波尼兹和夏发表了一种校准方法。该方法通过两个机械手的机械接触来实现，实验非常耗时，并要求特别小心地操作。

机械类英文参考文献

Int J Interact Des Manuf(2011)5:103–117 DOI10.1007/s12008-011-0119-7 ORIGINAL PAPER Benchmarking of virtual reality performance in mechanics education Maura Mengoni·Michele Germani· Margherita Peruzzini Received:27April2011/Accepted:29April2011/Published online:27May2011 ?Springer-Verlag2011 Abstract The paper explores the potentialities of virtual reality(VR)to improve the learning process of mechanical product design.It is focused on the definition of a proper experimental VR-based set-up whose performance matches mechanical design learning purposes,such as assemblability and tolerances prescription.The method consists of two main activities:VR technologies benchmarking based on sensory feedback and evaluation of how VR tools impact on learning curves.In order to quantify the performance of the technol-ogy,an experimental protocol is de?ned and an testing plan is set.Evaluation parameters are divided into performance and usability metrics to distinguish between the cognitive and technical aspects of the learning process.The experi-mental VR-based set up is tested on students in mechanical engineering through the application of the protocol. Keywords Mechanical product design·Virtual reality·Experimental protocol·Learning curve· Mechanics education 1Introduction Modern society is dominated by continuous scienti?c and technical developments.Specialization has become one of the most important enablers for industrial improvement.As a result,nowadays education is more and more job-oriented and technical education is assuming greater importance.In this context both university and industry are collaborating to create high professional competencies.The?rst disseminates M.Mengoni(B)·M.Germani·M.Peruzzini Department of Mechanical Engineering, Polytechnic University of Marche, Via Brecce Bianche,60131Ancona,Italy e-mail:m.mengoni@univpm.it knowledge and innovative methods while the second pro-vides a practical background for general principles training. The main problem deals with the effort and time required to improve technical learning,while market competitiveness forces companies to demand young and high-quali?ed engi-neers in short time.Therefore,the entire educational process needs to be fast and ef?cient.Novel information technolo-gies(IT)and emerging virtual reality(VR)systems provide a possible answer to the above-mentioned questions.Some of the most important issues,in mechanical design?eld,are the investigation of such technologies potentialities and the evaluation of achievable bene?ts in terms of product design learning effectiveness and quality.While IT has been deeply explored in distance education,i.e.e-learning,VR still rep-resents a novelty. VR refers to an immersive environment that allows pow-erful visualization and direct manipulation of virtual objects. It is widely used for several engineering applications as it provides novel human computer interfaces to interact with digital mock-ups.The close connection between industry and education represents the starting point of this research. Instead of traditional teaching methods,virtual technolo-gies can simultaneously stimulate the senses of vision by providing stereoscopic imaging views and complex spatial effects,of touch,hearing and motion by respectively adopt-ing haptic,sound and motion devices.These can improve the learning process in respect with traditional teaching meth-ods and tools.The observation of students interpreting two-dimensional drawings highlighted several dif?culties:the impact evaluation of geometric and dimensional tolerances chains,the detection of functional and assembly errors,the recognition of right design solutions and the choice of the proper manufacturing operations.These limitations force tutors to seek for innovative technologies able to improve students’perception.