Journal articles: 'Machine-tools Robots'

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Koren, Yoram. "Control of Machine Tools and Robots." Applied Mechanics Reviews 39, no. 9 (1986): 1331–38. http://dx.doi.org/10.1115/1.3149522.

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The principal control structure of CNC machine tools and industrial robots is similar, since in both systems each axis of motion is separately controlled with a position feedback loop. Nevertheless, the control of robots is more complex, since they include more degrees of freedom and the motion of each joint is not independent of other joints. This paper compares the conventional control schemes of both systems, and summarizes recent developments in adaptive control of machine tools and robots.

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Bloss, Richard. "Robots meet machine tools at the IMTS party." Industrial Robot: An International Journal 34, no. 2 (2007): 99–102. http://dx.doi.org/10.1108/01439910710727414.

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Luo, Yi, Olivier Gibaru, and Adel Olabi. "Dynamic Simulation of the Six Axis Machining Robot for Trajectory Planning in CATIA-LMS." Applied Mechanics and Materials 163 (April 2012): 74–78. http://dx.doi.org/10.4028/www.scientific.net/amm.163.74.

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Nowadays six axis machining robots are widely used in many fields of industry. Compared to machine tools, industrial robots offer a cheaper yet more flexible alternative to the machine-tools in the cleaning and pre-machining applications of aluminum castings. But the low stiffness has limited the application of industrial robots to the machining tasks with very low precision requirement. This paper presents a practical approach to improve the robot-machining accuracy by developing an off line simulation tool. Firstly we will complete the dynamic simulation of the 6-axis stiff model in CATIA-LMS for trajectory planning. Secondly we will set flexible joints and balancing system for the industry machining robot in LMS. Finally we will make some compare with the position trajectories generated by flexible joint and stiff joint, and then adjust the parameters under the references of the simulation result before the industry machining.

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Spanò, Alvise, and Agostino Cortesi. "Legodroid: A Type-Driven Library for Android and LEGO Mindstorms Interoperability." Sensors 20, no. 7 (2020): 1926. http://dx.doi.org/10.3390/s20071926.

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LEGO Mindstorms robots are widely used as educational tools to acquire skills in programming complex systems involving the interaction of sensors and actuators, and they offer a flexible and modular workbench to design and evaluate user–machine interaction prototypes in the robotic area. However, there is still a lack of support to interoperability features and the need of high-level tools to program the interaction of a robot with other devices. In this paper, we introduce Legodroid, a new Java library enabling cross-programming LEGO Mindstorms robots through Android smartphones that exploits their combined computational and sensorial capabilities in a seamless way. The library provides a number of type-driven coding patterns for interacting with sensors and motors. In this way, the robustness of the software managing robot’s sensors dramatically improves.

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Ihara, Yukitoshi. "Ball Bar Measurement on Machine Tools with Rotary Axes." International Journal of Automation Technology 6, no. 2 (2012): 180–87. http://dx.doi.org/10.20965/ijat.2012.p0180.

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A ball bar is a very convenient device for measuring the motion accuracy of machine tools. Some trials have also been done for measuring motion accuracy of industrial robots. Nowadays, multi-axis machines such as five-axis machining centers are very popular, and therefore, there is increased demand for checking their accuracy. This paper introduces an idea for checking the motion accuracy of five-axis machining centers and diagnosing error sources by reviewing trial measurements on articulated industrial robots. There are two problems. The first problem is that the ball bar can measure only distances, and the second problem is that the ball bar is a linear device and therefore not suitable for the rotary axis motion of 5-axis machines and articulated robots. Finally, the test conditions for the measurement of the motion accuracy of a machine tool showing conical motion, by using the ball bar and ISO/DIS 10791-6 (which is currently being edited) are reviewed and verified.

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Aliev, Khurshid, and Dario Antonelli. "Proposal of a Monitoring System for Collaborative Robots to Predict Outages and to Assess Reliability Factors Exploiting Machine Learning." Applied Sciences 11, no. 4 (2021): 1621. http://dx.doi.org/10.3390/app11041621.

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Industry standards pertaining to Human-Robot Collaboration (HRC) impose strict safety requirements to protect human operators from danger. When a robot is equipped with dangerous tools, moves at a high speed or carries heavy loads, the current safety legislation requires the continuous on-line monitoring of the robot’s speed and a suitable separation distance from human workers. The present paper proposes to make a virtue out of necessity by extending the scope of on-line monitoring to predicting failures and safe stops. This has been done by implementing a platform, based on open access tools and technologies, to monitor the parameters of a robot during the execution of collaborative tasks. An automatic machine learning (ML) tool on the edge of the network can help to perform the on-line predictions of possible outages of collaborative robots, especially as a consequence of human-robot interactions. By exploiting the on-line monitoring system, it is possible to increase the reliability of collaborative work, by eliminating any unplanned downtimes during execution of the tasks, by maximising trust in safe interactions and by increasing the robot’s lifetime. The proposed framework demonstrates a data management technique in industrial robots considered as a physical cyber-system. Using an assembly case study, the parameters of a robot have been collected and fed to an automatic ML model in order to identify the most significant reliability factors and to predict the necessity of safe stops of the robot. Moreover, the data acquired from the case study have been used to monitor the manipulator’ joints; to predict cobot autonomy and to provide predictive maintenance notifications and alerts to the end-users and vendors.

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Cannon, David J., and Geb Thomas. "Virtual Tools for Supervisory and Collaborative Control of Robots." Presence: Teleoperators and Virtual Environments 6, no. 1 (1997): 1–28. http://dx.doi.org/10.1162/pres.1997.6.1.1.

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Often, robotics has failed to meet industry expectations because programming robots is tedious, requires specialists, and often does not provide enough real flexibility to be worth the investment. In order to advance beyond a possible robotics plateau, an integrating technology will need to emerge that can take advantage of complex new robotic capabilities while making systems easier for nonrobotics people to use. This research introduces virtual tools with robotic attributes, and collaborative control concepts, that enable experts in areas other than robotics to simply point and direct sophisticated robots and machines to do new tasks. A system of robots that are directed using such virtual tools is now in place at the Pennsylvania State University (Penn State) and has been replicated at Sandia National Laboratories. (Mpeg movies from the Penn State Virtual Tools and Robotics Laboratory are at http://virtuoso.psu.edu/ mpeg_page.html.) Virtual tools, which appear as graphic representations of robot endeffectors interwoven into live video, carry robotic attributes that define trajectory details and determine how to interpret sensor readings for a particular type of task. An operator, or team of experts, directs robot tasks by virtually placing these tool icons in the scene. The operator(s) direct tasks involving attributes in the same natural way that supervisors direct human subordinates to, for example, “put that there,” “dig there,” “cut there,” and “grind there.” In this human-machine interface, operators do not teach entire tasks via virtual telemanipulation. They define key action points. The virtual tool attributes allow operators to stay at a supervisory level, doing what humans can do best in terms of task perceptualization, while robots plan appropriate trajectories and a variety of tool-dependent executions. Neither the task experts (e.g., in hazardous environments) nor the plant supervisors (e.g., in remote manufacturing applications) must turn over control to specialized robot technicians for long periods. Within this concept, shutting down a plant to reprogram robots to produce a new product, for example, is no longer required. Further, even though several key collaborators may be in different cities for a particular application, they may work with other experts over a project net that is formed for a particular mission. (We link simply by sending video frames over Netscape.) Using a shared set of virtual tools displayed simultaneously on each of the collaborator workstations, experts virtually enter a common videographic scene to direct portions of a task while graphically and verbally discussing alternatives with the other experts. In the process of achieving collaborative consensus, the robots are automatically programmed as a byproduct of using the virtual tools to decide what should be done and where. The robots can immediately execute the task for all to see once consensus is reached. Virtual tools and their attributes achieve robotic flexibility without requiring specialized programming or telemanipulation on the part of in situ operators. By sharing the virtual tools over project nets, noncollocated experts may now contribute to robot and intelligent machine tasks. To date, we have used virtual tools to direct a large gantry robot at Sandia National Laboratories from Penn State. We will soon have multiple collaborators sharing the virtual tools remotely, with a protocol for participants to take turns placing and moving virtual tools to define portions of complex tasks in other industrial, space-telerobotic, and educational environments. Attributes from each area of robotics research are envisioned with virtual tools as a repository for combining these independently developed robotic capabilities into integrated entities that are easy for an operator to understand, use, and modify.

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Krakhmalev, O. N., D. I. Petreshin, and O. N. Fedonin. "Improving the precision of multicoordinate machine tools and industrial robots." Russian Engineering Research 37, no. 5 (2017): 434–37. http://dx.doi.org/10.3103/s1068798x17050136.

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Shukla, Prashant, H. James Wilson, Allan Alter, and David Lavieri. "Machine reengineering: robots and people working smarter together." Strategy & Leadership 45, no. 6 (2017): 50–54. http://dx.doi.org/10.1108/sl-09-2017-0089.

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Purpose The authors explore the potential of machine learning, computers employ that an algorithm to sort data, make decisions and then continuously assess and improve their functionality. They suggest that it be used to power a radical redesign of company processes that they call machine reengineering. Design/methodology/approach The authors interpret a survey of more than a thousand corporate public agency IT professionals on their use of artificial intelligence and machine learning. Findings Companies that embrace machine learning find that it adds value to the work product of their employees and provides companies with new capabilities. Practical implications Working together with an intelligent machine, workers become custodians of powerfully smart tools, tools that personalize work to maximize their most productive ways of working. Originality/value A guide to establishing a culture that empowers employees to thrive alongside intelligent machines.

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Busch, Maximilian, Florian Schnoes, Thomas Semm, Michael F. Zaeh, Birgit Obst, and Dirk Hartmann. "Probabilistic information fusion to model the pose-dependent dynamics of milling robots." Production Engineering 14, no. 4 (2020): 435–44. http://dx.doi.org/10.1007/s11740-020-00975-8.

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Abstract Conventional industrial robots are increasingly used for milling applications of large workpieces due to their workspace and their low investment costs in comparison to conventional machine tools. However, static deflections and dynamic instabilities during the milling process limit the efficiency and productivity of such robot-based milling systems. Since the pose-dependent dynamic properties of the industrial robot structures are notoriously difficult to model analytically, machine learning methods are recently gaining more and more popularity to derive system models from experimental data. In this publication, a modeling concept based on a modern information fusion scheme, fusing simulation and experimental data, is proposed. This approach provides a precise model of the robot’s pose-dependent structural dynamics and is validated for a one-dimensional variation of the robot pose. The results of two information fusion algorithms are compared with a conventional, data-driven approach and indicate a superior model accuracy regarding interpolation and extrapolation of the pose-dependent dynamics. The proposed approach enables decreasing the necessary amount of experimental data needed to assess the vibrational properties of the robot for a desired pose. Additionally, the concept is able to predict the robot dynamics at poses where experimental data is very costly to gather.

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Portman, V. T., R. D. Weill, and V. G. Shuster. "Higher-Order Approximation in Accuracy Computations of Machine Tools and Robots." Journal of Manufacturing Science and Engineering 119, no. 4B (1997): 732–42. http://dx.doi.org/10.1115/1.2836817.

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Second and higher-order approximations for machine accuracy calculations are necessary when the precision of the error estimation obtained on the basis of the first order approximations is poor or when first order approximations are not influencing the output accuracy of the machine. This latter case is widely present in the calculations of the functional accuracy of machines, in particular when estimating the machine tool set-up errors or when calculating the influence of machine setting displacements. In the case of machining operations, the second order approximation for the normal position error of the real surface relative to the nominal one is shown to depend on the second fundamental form of the nominal surface. As a real world application, the setting of a grinding machine for a crowned conic surface grinding operation is calculated.

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Sun, Shu Hua. "Analysis of Position for the 4-PUU Parallel Manipulator." Applied Mechanics and Materials 220-223 (November 2012): 1757–60. http://dx.doi.org/10.4028/www.scientific.net/amm.220-223.1757.

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An original 4-PUU parallelManipulator with three-dimensional translations and one rotational motion about Z axis was presented. Its positional inverse modals were set up by using the conversion of coordinates and projection in analytic geometry, and the method of the forward solution of theManipulator and corresponding numerical examples were given.This methods were verified by using MATLAB software,which can provide the basis for studying the parallel robots work space. And it has wide application in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platform, rehabilitation robot and other fields.

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Piotrowski, Andrzej, and Tadeusz Nieszporek. "Setting up a Work Centre Based on the Profibus Network." Applied Mechanics and Materials 282 (January 2013): 51–58. http://dx.doi.org/10.4028/www.scientific.net/amm.282.51.

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Information communications networks, and especially their industrial versions (field networks), are an inseparable element of contemporary control systems. They enable pieces of modern industrial equipment to be coupled into a common system. In the case of older-generation equipment (universal one-stand CNC machine tools, manipulators, robots), their extension and integration in either dispersed or centralized control system is possible. As a result of modernization, it is possible to create a production line that will be built based on classic CNC machine tools and operated by manipulators or robots using network solutions and PC computers.

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Kim, Dong-Il, Jae Wook Jeon, and Sungkwun Kim. "Software acceleration/deceleration methods for industrial robots and CNC machine tools." Mechatronics 4, no. 1 (1994): 37–53. http://dx.doi.org/10.1016/0957-4158(94)90049-3.

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Lee, Dai Gil, Chang Sup Lee, Hak Gu Lee, Hui Yun Hwang, and Jong Woon Kim. "Novel applications of composite structures to robots, machine tools and automobiles." Composite Structures 66, no. 1-4 (2004): 17–39. http://dx.doi.org/10.1016/j.compstruct.2004.04.044.

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Martyshkin, Alexey I. "Motion Planning Algorithm for a Mobile Robot with a Smart Machine Vision System." Nexo Revista Científica 33, no. 02 (2020): 651–71. http://dx.doi.org/10.5377/nexo.v33i02.10800.

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This study is devoted to the challenges of motion planning for mobile robots with smart machine vision systems. Motion planning for mobile robots in the environment with obstacles is a problem to deal with when creating robots suitable for operation in real-world conditions. The solutions found today are predominantly private, and are highly specialized, which prevents judging of how successful they are in solving the problem of effective motion planning. Solutions with a narrow application field already exist and are being already developed for a long time, however, no major breakthrough has been observed yet. Only a systematic improvement in the characteristics of such systems can be noted. The purpose of this study: develop and investigate a motion planning algorithm for a mobile robot with a smart machine vision system. The research subject for this article is a motion planning algorithm for a mobile robot with a smart machine vision system. This study provides a review of domestic and foreign mobile robots that solve the motion planning problem in a known environment with unknown obstacles. The following navigation methods are considered for mobile robots: local, global, individual. In the course of work and research, a mobile robot prototype has been built, capable of recognizing obstacles of regular geometric shapes, as well as plan and correct the movement path. Environment objects are identified and classified as obstacles by means of digital image processing methods and algorithms. Distance to the obstacle and relative angle are calculated by photogrammetry methods, image quality is improved by linear contrast enhancement and optimal linear filtering using the Wiener-Hopf equation. Virtual tools, related to mobile robot motion algorithm testing, have been reviewed, which led us to selecting Webots software package for prototype testing. Testing results allowed us to make the following conclusions. The mobile robot has successfully identified the obstacle, planned a path in accordance with the obstacle avoidance algorithm, and continued moving to the destination. Conclusions have been drawn regarding the concluded research.

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Крахмалев, Олег, and Oleg Krakhmalev. "Primary deviations geometrical parameters multilink mechanical systems industrial robots and CNC machine tools." Bulletin of Bryansk state technical university 2014, no. 4 (2014): 46–51. http://dx.doi.org/10.12737/23055.

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Oiwa, Takaaki. "Precision Mechanisms Based on Parallel Kinematics." International Journal of Automation Technology 4, no. 4 (2010): 326–37. http://dx.doi.org/10.20965/ijat.2010.p0326.

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The parallel kinematic mechanism has been applied to simulators and robots for its high speed or multiple degrees of freedom. In recent years, however, it has begun to be used for precision mechanisms, such as machine tools, measuring machines, or fine-motion mechanisms. This review outlines the parallel kinematic mechanism and compares it with the conventional orthogonal coordinate mechanism to describe its nature and characteristics as a precision mechanism. It also introduces some cases in which the parallel kinematic mechanism is applied to fine motion mechanisms and three-dimensional coordinate measuring machines in addition to machine tools and robots. Finally, it discusses the problems and future of this parallel kinematic mechanism.

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Zaeh, Michael Friedrich, and Oliver Roesch. "Improvement of the Static and Dynamic Behavior of a Milling Robot." International Journal of Automation Technology 9, no. 2 (2015): 129–33. http://dx.doi.org/10.20965/ijat.2015.p0129.

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Because of the high flexibility and low investment costs, industrial robots are increasingly being employed for machining processes. However, milling robots can only be used for applications requiring low accuracy and minor cutting forces. The main reason for this is the low static and dynamic stiffness of the robot structure, which lead to huge deflections of the tool and heavy chatter oscillations, especially when steel is being machined. To extend the areas in which milling robots are applied, a model-based controller to compensate for path deviation has been developed at the Institute of Machine Tools and Industrial Management of TU Munich (iwb). In addition, process-based strategies to reduce chatter have been analyzed. This paper focuses on the dynamic behavior of robots to increase the stability of the cutting process, but it also gives an overview of the design of the controller for static deviation compensation.

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Blaszkowski, M., M. Szafarczyk, and M. Al-Taleb. "A new technique for identification of servodrives of machine tools and robots." Journal of Materials Processing Technology 76, no. 1-3 (1998): 36–41. http://dx.doi.org/10.1016/s0924-0136(97)00312-9.

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Zentay, Péter, and Gerald Mies. "Machine Tools and Industrial Robots as Key Technologies to Enable Industry 4.0." Repüléstudományi Közlemények 32, no. 2 (2020): 37–48. http://dx.doi.org/10.32560/rk.2020.2.3.

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The industrial environment has been changing rapidly over the past few years. Today, the Internet of Things (IoT) is finding its way into the global industry sectors. This ongoing industrial digitisation raises new challenges for the whole manufacturing industry. Smart factories are on the rise and promise higher efficiency and productivity. New technological developments in the field of hardware and software significantly extend today’s possibilities. Cutting- edge digital manufacturing solutions, especially new smart machines and collaborative robots are being promoted as key enabling technologies in this fourth industrial revolution. However, in the era of Industry 4.0 the holistic integration is a matter of great importance. Taking a step towards Industry 4.0, it is crucial to give equal consideration to products, production processes and business activities.

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Uhlmann, E. Prof, S. Reinkober, and C. Mohnke. "Individuelle Fertigung durch den Einsatz von Industrierobotern*/Individual production through the use of industrial robots - Technology with the potential to revolutionize the production." wt Werkstattstechnik online 106, no. 07-08 (2016): 470–76. http://dx.doi.org/10.37544/1436-4980-2016-07-08-4.

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Industrie 4.0 – die Produktion der Zukunft und die flexible Herstellung kundenindividueller Produkte: Doch neben der Nutzung von cyberphysikalischen Systemen und der intelligenten Vernetzung sind es am Ende noch immer die Fertigungstechnologien und Anlagensystem, die ein Bauteil herstellen. Neben den 3D-Druckverfahren, die das Portfolio an verfügbaren Herstellungsprozessen signifikant erweitern, bietet auch der Einsatz von Industrierobotern ein großes Potenzial, die Fertigung zu revolutionieren. Sich autonom bewegende und selbst organisierende Bearbeitungsmaschinen, die jeden Schritt der Produktion an beliebigen Stellen der Herstellungskette realisieren können, erscheinen realistisch. Der Fachartikel fasst zusammen, welche Potenziale und Möglichkeiten die robotergeführte Bearbeitung bereits heute bietet und welche Hindernisse es zu überwinden gilt. &nbsp; Industry 4.0 – Production of the future and the flexible fabrication of customized products. But beside the use of cyber physical systems and the intelligent linkage of machine tools, the manufacturing technologies and machine tools are the core of each production chain. 3D-printing technologies for example significantly expand the portfolio of production technologies. Furthermore the usage of industrial robots for machining tasks can fundamentally change today’s production. Autonomously moving and self organized machine tools based on robot guided machining seem to be possible. The article sums up the potentials and possibilities of the robot guided machining and shows the current obstacles.

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Brisan, Cornel, and Manfred Hiller. "Path Planning in the Case of PKM with Hybrid Topology." Solid State Phenomena 113 (June 2006): 291–95. http://dx.doi.org/10.4028/www.scientific.net/ssp.113.291.

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Parallel robots have often been used during the last decade because of their advantages, such as: good dynamic behavior, easiness of inverse kinematics, and higher accuracy etc. Despite those advantages, parallel robots are criticized in relation to their small work space, and not really modular topology and complex mechanical architecture. Industrial experience has realized that the major disadvantage of parallel robots is the small dimension of work space. Strong economical reasons and all technical advantages of parallel robots recommend these robots to do tasks that are proper to machine tools.

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Kryuchkov, B. I., V. M. Usov, V. A. Chertopolokhov, A. L. Ronzhin, and A. A. Karpov. "SIMULATION OF THE «COSMONAUT-ROBOT» SYSTEM INTERACTION ON THE LUNAR SURFACE BASED ON METHODS OF MACHINE VISION AND COMPUTER GRAPHICS." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W4 (May 10, 2017): 129–33. http://dx.doi.org/10.5194/isprs-archives-xlii-2-w4-129-2017.

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Extravehicular activity (EVA) on the lunar surface, necessary for the future exploration of the Moon, involves extensive use of robots. One of the factors of safe EVA is a proper interaction between cosmonauts and robots in extreme environments. This requires a simple and natural man-machine interface, e.g. multimodal contactless interface based on recognition of gestures and cosmonaut’s poses. When travelling in the "Follow Me" mode (master/slave), a robot uses onboard tools for tracking cosmonaut’s position and movements, and on the basis of these data builds its itinerary. The interaction in the system "cosmonaut-robot" on the lunar surface is significantly different from that on the Earth surface. For example, a man, dressed in a space suit, has limited fine motor skills. In addition, EVA is quite tiring for the cosmonauts, and a tired human being less accurately performs movements and often makes mistakes. All this leads to new requirements for the convenient use of the man-machine interface designed for EVA. To improve the reliability and stability of human-robot communication it is necessary to provide options for duplicating commands at the task stages and gesture recognition. New tools and techniques for space missions must be examined at the first stage of works in laboratory conditions, and then in field tests (proof tests at the site of application). The article analyzes the methods of detection and tracking of movements and gesture recognition of the cosmonaut during EVA, which can be used for the design of human-machine interface. A scenario for testing these methods by constructing a virtual environment simulating EVA on the lunar surface is proposed. Simulation involves environment visualization and modeling of the use of the "vision" of the robot to track a moving cosmonaut dressed in a spacesuit.

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Subrin, Kévin, Laurent Sabourin, Grigore Gogu, and Youcef Mezouar. "Performance Criteria to Evaluate a Kinematically Redundant Robotic Cell for Machining Tasks." Applied Mechanics and Materials 162 (March 2012): 413–22. http://dx.doi.org/10.4028/www.scientific.net/amm.162.413.

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Machine tools and robots have both evolved fundamentally and we can now question the abilities of new industrial robots concerning accurate task realization under high constraints. Requirements in terms of kinematic and dynamic capabilities in High Speed Machining (HSM) are increasingly demanding. To face the challenge of performance improvement, parallel and hybrid robotic architectures have emerged and a new generation of industrial serial robots with the ability to perform machining tasks has been designed. In this paper, we propose to evaluate the performance criteria of an industrial robot included in a kinematically redundant robotic cell dedicated to a machining task. Firstly, we present the constraints of the machining process (speed, accuracy etc.). We then detail the direct geometrical model and the kinematic model of a robot with closed chain in the arm and we propose a procedure for managing kinematic redundancy whilst integrating various criteria. Finally, we present the evolution of the criteria for a given trajectory in order to define the best location for a rotary table and to analyze the manipulators stiffness.

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Lamine, Houssein, Lotfi Romdhane, Houssem Saafi, and Sami Bennour. "Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine." Robotica 38, no. 9 (2019): 1703–14. http://dx.doi.org/10.1017/s026357471900170x.

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SUMMARYThis paper deals with a continuous design task of a planar cable robot used in a gait training machine called the cable-driven legs trainer. The design of cable robots requires satisfying two constraints, that is, tensions in the cables must remain non-negative, and cable interferences should be avoided. The carried design approach is based on interval analysis, which is one of the most efficient methods to obtain certified results. The constraints of non-negative tensions and cable to end-effector interference are solved using interval analysis tools. By means of a dynamic simulation, the reached workspace and the produced wrenches of the cable robot are evaluated as a set of interval vectors. An optimization algorithm is then designed to optimize the cable robot structure for the gait training machine. The robot is designed to produce non-negative tensions in the cables and to avoid collision at all times within the desired workspace and under the required external loads.

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Zhang, Cheng Shan. "Analysis of Workspace for the 4-PUU Parallel Manipulator." Advanced Materials Research 542-543 (June 2012): 886–90. http://dx.doi.org/10.4028/www.scientific.net/amr.542-543.886.

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4-PUU parallel manipulator with three-dimensional translations and one rotational motion about Z axis was presented. The Workspace of boundary point was obtained by searching in Polar Coordinates,the workspace of standing pose was analyzed by programming with MATLAB and LabVIEW. The research indicated that the workspace of the 4-PUU parallel mechanism has advantages of smooth boundary, big volume, no cavity and regular cross section in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platform, rehabilitation robot and etc.

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Tabaković, Slobodan, Milan Zeljković, Ratko Gatalo, and Aleksandar Živković. "Program Suite for Conceptual Designing of Parallel Mechanism-Based Robots and Machine Tools." International Journal of Advanced Robotic Systems 10, no. 6 (2013): 279. http://dx.doi.org/10.5772/56633.

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Krakhmalev, O. N., and D. I. Petreshin. "Correction of Integrated Motion Deviations of Industrial Robots and Multi-Axis Machine Tools." MEHATRONIKA, AVTOMATIZACIA, UPRAVLENIE 16, no. 7 (2015): 491–96. http://dx.doi.org/10.17587/mau.16.491-496.

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Jeon, Jae Wook, and Yun-Ki Kim. "FPGA based acceleration and deceleration circuit for industrial robots and CNC machine tools." Mechatronics 12, no. 4 (2002): 635–42. http://dx.doi.org/10.1016/s0957-4158(01)00012-5.

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Furtado, L. F. F., E. Villani, L. G. Trabasso, and R. Sutério. "A method to improve the use of 6-dof robots as machine tools." International Journal of Advanced Manufacturing Technology 92, no. 5-8 (2017): 2487–502. http://dx.doi.org/10.1007/s00170-017-0336-8.

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Hernandez, Mauricio Andres Zamora, Eldon Caldwell Marin, Jose Garcia-Rodriguez, Jorge Azorin-Lopez, and Miguel Cazorla. "Automatic Learning Improves Human-Robot Interaction in Productive Environments." International Journal of Computer Vision and Image Processing 7, no. 3 (2017): 65–75. http://dx.doi.org/10.4018/ijcvip.2017070106.

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In the creation of new industries, products and services -- all of which are advances of the Fourth Industrial Revolution -- the human-robot interaction that includes automatic learning and computer vision are elements to consider since they promote collaborative environments between people and robots. The use of machine learning and computer vision provides the tools needed to increase productivity and minimizes delivery reaction times by assisting in the optimization of complex production planning processes. This review of the state of the art presents the main trends that seek to improve human-robot interaction in productive environments, and identifies challenges in research as well as in industrial - technological development in this topic. In addition, this review offers a proposal on the needs of use of artificial intelligence in all processes of industry 4.0 as a crucial linking element among humans, robots, intelligent and traditional machines; as well as a mechanism for quality control and occupational safety.

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Tera, Melania, Claudia–Emilia Gîrjob, Cristina–Maria Biriș, and Mihai Crenganiș. "Modular fastening system and tool–holder working unit for incremental forming." MATEC Web of Conferences 299 (2019): 05005. http://dx.doi.org/10.1051/matecconf/201929905005.

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Incremental forming can be usually unfolded either on CNC milling machine–tools or serial industrial robots. The approach proposed in this paper tackles the problem of designing a modular fastening system, which can be adapted for both above mentioned technological equipment. The fastening system of the sheet–metal workpiece is composed of a fixing plate and a retaining plate. The fixing and retaining plates will be made up of different individual elements, which can be easily repositioned to obtain different sizes of the part. Moreover, the fastening system has to be able to be positioned either horizontally (to be fitted on CNC milling machines) or vertically (to be fitted on industrial robots. The paper also presents the design of a tool–holder working unit which will be fitted on KUKA KR 210 industrial robot. The working unit will be mounted as end–effector of the robot and will bear the punch, driving it on the processing toolpaths.

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Bogdan, Laurean. "Using the Microcontroller and the PLC in a RPP Robot Control." Advanced Materials Research 463-464 (February 2012): 1721–24. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1721.

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This paper presents some aspects regarding the possibility of combining microcontroller and programmable logic controller (PLC) for robot control. The RPP robot is designed and manufactured within the Faculty of Engineering from “Lucian Blaga” University of Sibiu, as a patent: BRAŢ TELESCOPIC, Nr. 112418 B1, Int.CI.6 B 25 J 18/02, from 17.02.1997. Classical systems for programming and control of industrial robot are based on numerical control equipment, developed around a PC. Programmable Logic Controllers (PLC) haves proven to be viable alternatives to driving machine tools, industrial systems and Robots. Microcontrollers as computers offer advantage due to programmable inputs and outputs ports. The application of a microcontroller and PLC in control of a robot is presented in this paper.

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Lee, Joo Hong, Bo Sik Kang, Do Sik Kim, Jong Jik Lee, and Sung Hyun Kim. "Performance Comparison Evaluation of a Roller Gear Cam Reducer for Robots and Machine Tools." Transactions of the Korean Society of Mechanical Engineers - A 44, no. 9 (2020): 651–57. http://dx.doi.org/10.3795/ksme-a.2020.44.9.651.

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Zelenskii, A. A., T. Kh Abdullin, Yu V. Ilyukhin, and M. A. Khar’kov. "FPGA-Based High-Performance Digital Control System for Multicoordinate Machine Tools and Industrial Robots." Russian Engineering Research 40, no. 1 (2020): 58–60. http://dx.doi.org/10.3103/s1068798x20010256.

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Appel, Markus, David Izydorczyk, Silvana Weber, Martina Mara, and Tanja Lischetzke. "The uncanny of mind in a machine: Humanoid robots as tools, agents, and experiencers." Computers in Human Behavior 102 (January 2020): 274–86. http://dx.doi.org/10.1016/j.chb.2019.07.031.

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Wu, Wei, Toshiki Hirogaki, and Eiichi Aoyama. "Proposal of Improving Method of Rotational 2-Axis Synchronous Accuracy of Plate Motion Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate." Key Engineering Materials 523-524 (November 2012): 889–94. http://dx.doi.org/10.4028/www.scientific.net/kem.523-524.889.

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Recently, developers of machining tools have begun paying more and more attention to multi-joint dual-arm robot, and it is expected the robot will reclaim its place in the field of new automation. Industrial dual-arm robots have therefore gained attention as new tools to control both linear motion and rotational motion accurately. On the other hand, the five-axis control machining center controlling the motion of three translation axes and two rotation axes has put into wide practical use. However, a one problem has been that it may be the difficult to measure the synchronic accuracy of rotation two axes without high accuracy gyro sensor. In the present report, we proposed a novel method to measure the synchronic accuracy of rotation two axes of machine tool table with a ball, which keeps a ball rolling around a circular path on the working plate by dual-arm cooperating control. As a result, we investigated an influence of each axis motion error on a ball- rolling path, and demonstrated this method made it feasible to estimate the synchronic accuracy of rotation two axes of machine tool table.

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Ibaraki, Soichi, and Andreas Archenti. "Special Issue on New Technologies for Robotic Manipulators and Their Industrial Applications." International Journal of Automation Technology 15, no. 5 (2021): 565–66. http://dx.doi.org/10.20965/ijat.2021.p0565.

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The industrial robot is more precisely an “automatically controlled, reprogrammable, multipurpose manipulator, programmable in three or more axes, which can be either fixed in place or mobile” (ISO 8373:2012). According to the International Federation of Robotics, by 2018, more than 400,000 new units were being installed annually, and the global average robot density in the manufacturing industry was 99 robots per 10,000 employees. More than 30% of all installed robots were in the automotive industry, the biggest customer for robots. Research on measuring and calibrating, modeling, programming and controlling, and integrating systems has been conducted to give robotic manipulators a wider variety of industrial applications. This special issue covers technical and academic efforts related to new technologies that improve the accuracy and facilitate the implementation of robotic manipulators in industrial applications. The first paper, by Ibaraki et al., outlines technical issues and future research directions for the implementation of model-based numerical compensation schemes for industrial robots. The random forest method is used by Kato et al. to construct a calibration model for positioning errors and identify industrial robots’ positioning errors. A procedure for the quasi-static compliance calibration of serial articulated industrial manipulators is proposed by Theissen et al. A review of the kinematic modeling theory and a derived algorithm to identify error sources for a six-axis industrial robot are presented by Alam et al. Nagao et al. derive a forward kinematics model and identify the kinematics parameters for the calibration of a robot-type machine tool. A novel trajectory generation algorithm, including a corner smoothing method for high-speed and high-accuracy machining by industrial robots, is proposed by Tajima et al. Sato et al. study the vibration characteristics of an industrial robot and derive a mathematical model that represents the dynamic behavior of the system. In the context of smart manufacturing, a multilayer quality inspection framework including a measurement instrument and a robot manipulator is introduced by Azamfirei et al. To support mass customization and the development of reconfigurable manufacturing systems, Inoue et al. propose an autonomous mobile robotic manipulator. Yonemoto and Suwa present an adaptive manipulation procedure to establish an automated scheduling technique that flexibly responds to unforeseen events, such as machine failures. Sasatake et al. introduce a learning system that is based on a method for calculating the similarity between tools, and they test it on a robot system for doing housework. Finally, for better knowledge of the key challenges that manufacturers experience in implementing collaborative industrial robots, an industrial survey is conducted by Andersson et al. The editors sincerely appreciate the contributions of all the authors as well as the work of the reviewers. We are confident that this special issue will further encourage research and engineering work to increase our understanding and knowledge of robotic manipulators and their industrial applications.

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HSIEH, SHENG-JEN. "RECONFIGURABLE MODULES, PROGRAMMABLE LOGIC CONTROLLER, AND VISION SYSTEM FOR DUAL ROBOT ASSEMBLY WORKCELL DESIGN." Journal of Advanced Manufacturing Systems 02, no. 02 (2003): 201–28. http://dx.doi.org/10.1142/s0219686703000320.

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Robot workcell system design involves integrating one or more robots with components such as conveyors, pallets, machine tools, and fixtures. Previous work in workcell design has addressed control and operations management issues such as scheduling. There has been relatively little emphasis on overall design, interface, system integration and agility issues. This paper provides a detailed technical description of (1) a cost-effective approach to prototyping a robotic assembly workcell using off-the-shelf modules and sensors; and (2) the process of designing, building, and integrating a dual robot assembly cell using a programmable logic controller. Modules and sensors used include pneumatic devices, solenoids, Hall effect and optical sensors, relays, optical isolators, conveyor, programmable logic controller, and vision system. Ladder diagrams, vision system inspection tools, and an integration interface were developed to synchronize the sequence of operations and communication between hardware devices. A design framework for web-based control of the system is proposed. Future research directions include web-based monitoring, control, and troubleshooting.

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Rusnáková, Sona, Daniel Kučerka, Martin Podařil, Ján Kmec, Vladimir Rusnák, and Luba Bicejova. "Influence of Processing Parameters Production of Sandwich Composite Structures Designed Especially for the Construction of Machine Tool Parts." Applied Mechanics and Materials 616 (August 2014): 333–43. http://dx.doi.org/10.4028/www.scientific.net/amm.616.333.

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All components of a huge machine tool need to work together perfectly to ensure not only a quality finished product, but operator safety. One of those many components is the material of support panels and moving parts in the machine construction. Mechanical structure of the machine, in most cases does not reach the technical level of regulatory techniques or electric drives and potential increase in dynamics, speed or accuracy of the machines remain unused. Used classic construction materials, steel or light alloy then zoom in to limit their physical capabilities. Designers have machine tools or robots are forced to solve the formidable task in the form of reducing the weight of the moving parts while maintaining or even increasing stiffness with respect to the thermal stability or damping. Laminates are for construction of production machines, robots and manipulators of crucial importance. One big advantage is the high rigidity while maintaining low specific weight. The presented paper is focused on the investigation of composite sandwich construction produced by prepreg technology, which is the suitable production choose for construction of machine tools parts. First of all, the production of sandwich structures with cork core, honeycomb core and foam cores are compared and described. In terms of the production process it is a method very friendly to the environment, since there are no leaks styrene vapours into the air. Since it is important from the perspective of a manufacturer of transport or machine industry manufactured from environmentally friendly materials, so naturally from materials that are from the perspective of safety of passengers (operators of machine tools or robots) at a high level, when any accident was lowest possible hazard due to fire (burn materials used) and terms of the strength of composite materials. This is one of the major scientific articles and to find the most ideal surveyed composite sandwich materials that would be the greatest possible extent fulfils the required properties. In the experimental part of the article are compared and investigated the mechanical characteristics of composite sandwich structures with regard to varying number of layers of predimpregnated skin materials due to the different types of core materials suitable for use in the machine industry. In addition, these characteristics are an important part of the article research because described the influence number of layers to values of the bending stiffness those composite structures.

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Hwang, Yunn Lin, Thi Na Ta, and Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators." Applied Mechanics and Materials 883 (July 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.

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Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.

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Liu, Jimu, Yuan Tian, and Feng Gao. "A novel six-legged walking machine tool for in-situ operations." Frontiers of Mechanical Engineering 15, no. 3 (2020): 351–64. http://dx.doi.org/10.1007/s11465-020-0594-2.

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Abstract The manufacture and maintenance of large parts in ships, trains, aircrafts, and so on create an increasing demand for mobile machine tools to perform in-situ operations. However, few mobile robots can accommodate the complex environment of industrial plants while performing machining tasks. This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and a portable parallel kinematic machine tool. The kinematic model of the entire system is presented, and the workspace of different components, including a leg, the body, and the head, is analyzed. A hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged mobile platform and the high precision of the parallel machine tool. The repeatability of the head motion, body motion, and walking distance is evaluated through experiments, which is 0.11, 1.0, and 3.4 mm, respectively. Finally, an application scenario is shown in which the walking machine tool steps successfully over a 250 mm-high obstacle and drills a hole in an aluminum plate. The experiments prove the rationality of the hierarchical motion planning scheme and demonstrate the extensive potential of the walking machine tool for in-situ operations on large parts.

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Busch, Maximilian, Thomas Semm, and Michael Zäh. "Datenbasierte Modellierung von Fräsrobotern/Data-driven models of milling robots – Modelling the pose-dependency of the structural dynamics using modern algorithms for machine learning." wt Werkstattstechnik online 110, no. 09 (2020): 624–28. http://dx.doi.org/10.37544/1436-4980-2020-09-54.

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Industrieroboter werden aufgrund ihres großen Arbeitsraumes zunehmend für die Fräsbearbeitungen großer Werkstücke eingesetzt. Dynamische Instabilitäten während des Prozesses schränken jedoch ihre Produktivität ein. Maschinelle Lernverfahren gewinnen hierbei an Popularität, um Strukturmodelle aus experimentellen Daten abzuleiten. Das Institut für Werkzeugmaschinen und Betriebswissenschaften (iwb) der Technischen Universität München entwickelt in Zuge dessen Methoden, die mit maschinellen Lernverfahren Simulations- und Experimentaldaten verbinden, um dadurch die Strukturdynamik von Fräsrobotern zu modellieren. &nbsp; Industrial robots are increasingly used for milling applications of large workpieces due to their large working area. However, dynamic instabilities during the process limit their productivity. Thus, machine learning methods are becoming increasingly popular for deriving system models from experimental data. The Institute for Machine Tools and Industrial Management (iwb) at the Technical University of Munich is developing methods to fuse simulation data and experimental data using machine learning methods to model the structural dynamics of milling robots.

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Brosed, Francisco Javier, Raquel Acero Cacho, Sergio Aguado, Marta Herrer, Juan José Aguilar, and Jorge Santolaria Mazo. "Development and Validation of a Calibration Gauge for Length Measurement Systems." Materials 12, no. 23 (2019): 3960. http://dx.doi.org/10.3390/ma12233960.

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Due to accuracy requirements, robots and machine-tools need to be periodically verified and calibrated through associated verification systems that sometimes use extensible guidance systems. This work presents the development of a reference artefact to evaluate the performance characteristics of different extensible precision guidance systems applicable to robot and machine tool verification. To this end, we present the design, modeling, manufacture and experimental validation of a reference artefact to evaluate the behavior of these extensible guidance systems. The system should be compatible with customized designed guides, as well as with commercial and existing telescopic guidance systems. Different design proposals are evaluated with finite element analysis, and two final prototypes are experimentally tested assuring that the design performs the expected function. An estimation of the uncertainty of the reference artefact is evaluated with a Monte Carlo simulation.

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Eoh, Gyuho, Jae D. Jeon, Jung H. Oh, and Beom H. Lee. "Cooperative object transportation using parallel line formation with a circular shift." Robotica 35, no. 6 (2016): 1341–64. http://dx.doi.org/10.1017/s0263574716000096.

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SUMMARYThis paper presents a new cooperative object transportation technique using parallel line formation with a circular shift. Typical areas of research in relation to object transportation are grasping, pushing, and caging techniques, but these require precise grasping behaviors, iterative motion correction according to the object pose, and the real-time acquisition of the object shape, respectively. In this paper, the proposed technique does not need to consider the shape or the pose of objects, and equipped tools are not necessary for object transportation because objects are transported by pushing behavior only. Multiple robots create parallel line formation using a virtual electric dipole field and then push multiple objects into the formation. This parallel line is extended to the goal using cyclic motion by the robots and the objects are transported to the goal by pushing behavior. The above processes are decentralized and activated based on the finite state machine of each robot. Simulations and practical experiments are presented to verify the proposed technique.

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Brecher, C. Prof, L. Lienenlüke, and M. Obdenbusch. "Spanende Bearbeitung mit Industrierobotern*/Milling with industrial robots - Model-based planning assistant for robot processes." wt Werkstattstechnik online 107, no. 05 (2017): 346–51. http://dx.doi.org/10.37544/1436-4980-2017-05-42.

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Durch technische Errungenschaften in der Industrierobotik ergeben sich Potentiale für neue Applikationen. In Kombination mit einem geringen Verhältnis von Investitionskosten pro Arbeitsraum ist insbesondere die Bearbeitung zunehmend wirtschaftlich. Allerdings weisen Roboter hinsichtlich Genauigkeit und Steifigkeit bisher Nachteile auf. Der Fachbeitrag beschreibt eine Methode zur modellgestützten CAM-NC-Planungsassistenz für die automatisierte Parametrierung roboterbasierter Bearbeitungsprozesse. &nbsp; The machining sector is increasingly making use of industrial robots to benefit from high flexibility and low investment costs in relation to the installation area. However, low absolute accuracy and low stiffness prevent the breakthrough in industry. This paper describes a method developed at the WZL chair of machine tools, which enables model-based planning assistance for automated parameterization of robotic manufacturing processes.

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Niewola, Adam, Leszek Podsedkowski, Piotr Wróblewski, Piotr Zawiasa, and Marcin Zawierucha. "Selected aspects of robin heart robot control." Archive of Mechanical Engineering 60, no. 4 (2013): 575–93. http://dx.doi.org/10.2478/meceng-2013-0035.

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Abstract The issues of medical robots have been approached for 12 years in the Institute of Machine Tools and Production Engineering of the Technical University of Lodz. In the last two years, the scope of research related to the miniaturization of surgical tools, automated changing of these tools with the use of a tool depot designed for this purpose, equipping the robot in the sense of touch and developing the software which provides ergonomic and intuitive robot control with the use of all its functions. In the telemanipulator control, strong emphasis is placed on the intuitiveness of control, which is hard to be ensured due to the fact that the robot tool is observed by a laparoscopic camera, whose orientation and position may vary. That is the reason for developing a new algorithm. It copies the increments of the position and orientation measured in relation to the monitor coordinate system onto the robot tool movement and orientation, which are measured in relation to the camera coordinates system. In this algorithm it is necessary to solve inverse kinematics, which has a discontinuity. Avoiding the discontinuity is achieved by mapping the solution with the cosine function. It causes smooth pass through the area of discontinuity in this way avoiding the singularity

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Urbanic, R. J., and Ana M. Djuric. "Methods for Evaluating the Functional Work Space for Machine Tools and 6 Axis Serial Robots." SAE International Journal of Materials and Manufacturing 9, no. 2 (2016): 465–73. http://dx.doi.org/10.4271/2016-01-0338.

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Jae Wook Jeon and Young Youl Ha. "A generalized approach for the acceleration and deceleration of industrial robots and CNC machine tools." IEEE Transactions on Industrial Electronics 47, no. 1 (2000): 133–39. http://dx.doi.org/10.1109/41.824135.

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Journal articles on the topic 'Machine-tools Robots'

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