To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for con...To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for constructing an industrial robot assembly system based on virtual reality technology.Focusing on the shaft hole assembly,the mechanical characteristics of the industrial robot shaft hole assembly process are analyzed and a dynamic model is established for shaft hole assembly operations.The key elements of virtual assembly operations for industrial robots are summarized and a five-dimensional model is proposed for industrial robot virtual operations.Utilizing the Unity3D engine based on the 5-D model for industrial robot virtual operations,an industrial robot shaft hole assembly system is developed.This system enables virtual assembly operations,displays physical attributes,and provides valuable references for the research of virtual systems.展开更多
The advancement of the intelligent manufacturing industry(IMI)represents the future direction for the world's manufactur-ing sector,offering a promising avenue to bolster national competitiveness and enhance indus...The advancement of the intelligent manufacturing industry(IMI)represents the future direction for the world's manufactur-ing sector,offering a promising avenue to bolster national competitiveness and enhance industrial manufacturing efficiency.In this study,we took the industrial robot industry(IRI)as a case study to elucidate the spatial distribution and interconnections of IMI from a geographical perspective,and the modified diamond model(DM)was used to analyze the influencing factors.Results show that:1)the spatial pattern of IRI with various investment attributes in different industrial chain links is generally similar,centered in the southeast.Key investment areas are in the east and south.The spatial distribution of China's IRI covers a multitude of provinces and obtains differ-ent scales of investment in different countries(regions).2)The spatial correlation between foreign investors and China's provincial-level administrative regions(PARs)forms a network,and the network of foreign-invested enterprises is more stable.Different countries(regions)have distinct location preferences in China,with significant spatial differences in correlation degrees.3)Overall,the interac-tion of these factors shapes the location decisions and correlation patterns of industrial robot enterprises.This study not only contributes to our theoretical knowledge of the industrial spatial structure and industrial economy but also offers valuable references and sugges-tions for national IMI planning and relevant industry investors.展开更多
With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding...With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.展开更多
Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence.However,the low structural stiffness of a robot significantly affects its positional accuracy and the...Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence.However,the low structural stiffness of a robot significantly affects its positional accuracy and the machining quality of its operation equipment.Studying robot stiffness characteristics and optimization methods is an effective method of improving the stiffness performance of a robot.Accordingly,aiming at the poor accuracy of stiffness modeling caused by approximating the stiffness of each joint as a constant,a variable stiffness identification method is proposed based on space gridding.Subsequently,a task-oriented axial stiffness evaluation index is proposed to quantitatively assess the stiffness performance in the machining direction.In addition,by analyzing the redundant kinematic characteristics of the robot machining system,a configuration optimization method is further developed to maximize the index.For numerous points or trajectory-processing tasks,a configuration smoothing strategy is proposed to rapidly acquire optimized configurations.Finally,experiments on a KR500 robot were conducted to verify the feasibility and validity of the proposed stiffness identification and configuration optimization methods.展开更多
The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the co...The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the convolutional neural network(CNN)and the long short-term memory network(LSTM),is employed to approximate the nonlinear driving control system.CNN layers are introduced to extract dynamic features of the data,whereas LSTM layers perform time-sequential prediction of the target system.In terms of application,normal samples are fed into the observer to build an offline prediction model for the target system.The trained CNN-LSTM-based observer is then deployed along with the target system to estimate the system outputs.Online fault detection can be realized by analyzing the residuals.Finally,an application of the proposed fault detection method to a brushless DC motor drive system is given to verify the effectiveness of the proposed scheme.Simulation results indicate the impressive fault detection capability of the presented method for driving control systems of industrial robots.展开更多
To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with...To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with the optimal time interval and the trajectory point angle,the trajectory route of the flexible polishing industrial robot for case parts was optimized by the Matlab software.The operation time of the flexible polishing industrial robot could reach the optimal level.The joints of the robot can be cooperated with each other to ensure that the motion track of the end-effector of the robot arm is closer to the expected motion track.Based on the Adams software,the obtained trajectory curve of multi-objective optimization was simulated,which verified the trajectory fitted after multi-objective optimization.The angular acceleration and angular plus acceleration curves were improved.Theoretical guidance was carried out for the subsequent experiment by Matlab and Adams simulation analysis.展开更多
This paper proposes an uncalibrated workpiece positioning method for peg-in-hole assembly of a device using an industrial robot.Depth images are used to identify and locate the workpieces when a peg-in-hole assembly t...This paper proposes an uncalibrated workpiece positioning method for peg-in-hole assembly of a device using an industrial robot.Depth images are used to identify and locate the workpieces when a peg-in-hole assembly task is carried out by an industrial robot in a flexible production system.First,the depth image is thresholded according to the depth data of the workpiece surface so as to filter out the background interference.Second,a series of image processing and the feature recognition algorithms are executed to extract the outer contour features and locate the center point position.This image information,fed by the vision system,will drive the robot to achieve the positioning,approximately.Finally,the Hough circle detection algorithm is used to extract the features and the relevant parameters of the circular hole where the assembly would be done,on the color image,for accurate positioning.The experimental result shows that the positioning accuracy of this method is between 0.6-1.2 mm,in the used experimental system.The entire positioning process need not require complicated calibration,and the method is highly flexible.It is suitable for the automatic assembly tasks with multi-specification or in small batches,in a flexible production system.展开更多
In order to further improve the serial ports communication mode of the general Flex Pendant for industrial robot,a multiple serial communication mode is put forward. It is used to meet the stability of data transmissi...In order to further improve the serial ports communication mode of the general Flex Pendant for industrial robot,a multiple serial communication mode is put forward. It is used to meet the stability of data transmission,transmission distance,transmission speed,anti-interference and cost-effective. Using ADUM1201 single direction dual channel digital isolator,two pieces of MAX13487 E and a piece of MAX3232 chip to transmit data and files, and to control chip’ s electrical level. Selecting the RS232, RS422 and RS485 communication mode,the serial ports of the general Flex Pendant of industrial robot is optimized.展开更多
This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timed...This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timedomain TPA method is proposed to trace the source along with the time variation.Secondly,the TPA method positioned themain source of robotic vibration under typically different working conditions.Thirdly,independent vibration testing of the Rotate Vector(RV)reducer is conducted under different loads and speeds,which are key components of an industrial robot.The method of EMD and Hilbert envelope was used to extract the fault feature of the RV reducer.Finally,the structural problems of the RV reducer were summarized.The vibration performance of industrial robots was improved through the RV reducer optimization.From the whole industrial robot to the local RV Reducer and then to the internal microstructure of the reducer,the source of defect information is traced accurately.Experimental results showed that the TPA and EMD hybrid methods were more accurate and efficient than traditional time-frequency analysis methods to solve industrial robot vibration problems.展开更多
In order to realize the optimal design of the industrial robot arm structure,an optimization method of the industrial robot arm structure based on green manufacturing technology is proposed.The stability of arm struct...In order to realize the optimal design of the industrial robot arm structure,an optimization method of the industrial robot arm structure based on green manufacturing technology is proposed.The stability of arm structure parameter acquisition can be controlled.The quantitative adjustment model of structural optimization parameters is constructed.The differential fusion control of the arm structure is realized.This paper analyzes the structure parameter law of the robot arm.We use dynamic parameter prediction and output torque parameter compensation method to control the arm structure.According to the adaptive iterative processing results,the arm structure parameter identification is realized.According to the identification results,the cutting parameter optimization method is adopted for the analytical control of the arm structure,and finally the optimized design of the industrial robot arm structure is realized through the green manufacturing technology.The simulation test results show that for the accuracy of the industrial robot arm structure design,this method is better,the output stability is higher,and the arm motion trajectory has a low deviation from the actual motion trajectory,which improves the optimization control and design capabilities of the industrial robot arm structure.展开更多
The main features of morphological model of industrial robots are discussed, such as support system, manipulator and gripping device. These features are presented with the alternatives for their realization as separat...The main features of morphological model of industrial robots are discussed, such as support system, manipulator and gripping device. These features are presented with the alternatives for their realization as separate modules. The examples of synthesis of arrangements of industrial robots are resulted on module principle with writing of their morphological formulas.展开更多
Industrial robot is a multi-degree of freedom mechanical device, which has a certain degree of autonomy, can replace manual to complete high-precision and high-risk production operations, has the advantages of high de...Industrial robot is a multi-degree of freedom mechanical device, which has a certain degree of autonomy, can replace manual to complete high-precision and high-risk production operations, has the advantages of high degree of intelligence, easy management and perfect function, and has been widely used in the industrial field, which is of great significance to the upgrading and transformation of China's labor-intensive industries. Based on this, this paper focuses on the application of industrial robot electrical automation technology to be analyzed, hoping to help practitioners.展开更多
With the rapid development of our country's economic level, science and technology in various fields have been significantly improved, among which industrial robots in the field of automation control are more and ...With the rapid development of our country's economic level, science and technology in various fields have been significantly improved, among which industrial robots in the field of automation control are more and more widely used and have played a higher role, meeting the efficiency and quality requirements of most industrial production. Therefore, this paper analyzes and discusses the application of industrial robot technology in the field of automation control, combining with the current development of industrial robots and their own control systems, for reference.展开更多
At present, with the continuous development and progress of intelligent technology and computer technology, the requirements for welding products in the market are gradually improved. Therefore, in order to ensure the...At present, with the continuous development and progress of intelligent technology and computer technology, the requirements for welding products in the market are gradually improved. Therefore, in order to ensure the quality and efficiency of welding products, welding robots can be applied in welding work. At present, welding robots have been widely used in the field of welding. Through the use of welding robot, the quality and efficiency of welding production can be improved to a certain extent, the working conditions of operators can be effectively improved, and the product quality can be effectively guaranteed, so as to ensure the product quality. Differentiated manufacturing also plays a role in promoting the modernization and transformation of related industries. Welding robot uses robot instead of manual operation, which involves using welding robot to complete welding work. According to the different welding methods used by welding robots, welding robots can be divided into welding robots, arc welding robots, laser welding robots and friction robots. Welding robot and other types, with the development of automation technology, welding robot can be divided into intelligent robot and teaching breeding robot.展开更多
The application of industrial robot technology in industrial production can greatly increase the output, not only liberate more workers, but also obtain higher income at a lower cost. Especially in industrial producti...The application of industrial robot technology in industrial production can greatly increase the output, not only liberate more workers, but also obtain higher income at a lower cost. Especially in industrial production with high risks, high environmental pollution and strict requirements for precision, industrial robots have obvious advantages in practical applications, which not only ensure the quality of products, adapt to more working environments, but also obtain more benefits. Combined with the development in recent years, the technical characteristics of industrial robots are analyzed, and their applications and precautions in power control are pointed out, so as to make full use of their own technical advantages.展开更多
Health management of industrial robots is paramount for maintaining effective operations,ensuring consistent performance,minimizing downtime,and ultimately enhancing the safety and productivity of robotic systems.Sinc...Health management of industrial robots is paramount for maintaining effective operations,ensuring consistent performance,minimizing downtime,and ultimately enhancing the safety and productivity of robotic systems.Since the invention of industrial robots,significant efforts have been dedicated to their health management.In recent years,thanks to advances in condition monitoring and fault diagnosis technologies of industrial robots,robot health management has shifted from scheduled maintenance to condition-based maintenance.This paper aims to comprehensively review the evolution of condition monitoring and fault diagnosis technologies that are critical for implementing condition-based maintenance of industrial robots.A brief introduction to robotic systems is given first to analyze the robot failure modes and their corresponding root causes.Next,the data acquisition strategies and commonly used sensors of industrial robots are investigated.Further,the development of robot condition monitoring and fault diagnosis technologies are reviewed,with an emphasis on the remarkable achievements and challenges in model-based and data-driven methods.Finally,the paper summarizes the challenges facing this research field and provides potential avenues for future advancements.展开更多
As the application of Industrial Robots(IRs)scales and related participants increase,the demands for intelligent Operation and Maintenance(O&M)and multi-tenant collaboration rise.Traditional methods could no longe...As the application of Industrial Robots(IRs)scales and related participants increase,the demands for intelligent Operation and Maintenance(O&M)and multi-tenant collaboration rise.Traditional methods could no longer cover the requirements,while the Industrial Internet of Things(IIoT)has been considered a promising solution.However,there’s a lack of IIoT platforms dedicated to IR O&M,including IR maintenance,process optimization,and knowledge sharing.In this context,this paper puts forward the multi-tenant-oriented ACbot platform,which attempts to provide the first holistic IIoT-based solution for O&M of IRs.Based on an information model designed for the IR field,ACbot has implemented an application architecture with resource and microservice management across the cloud and multiple edges.On this basis,we develop four vital applications including real-time monitoring,health management,process optimization,and knowledge graph.We have deployed the ACbot platform in real-world scenarios that contain various participants,types of IRs,and processes.To date,ACbot has been accessed by 10 organizations and managed 60 industrial robots,demonstrating that the platform fulfills our expectations.Furthermore,the application results also showcase its robustness,versatility,and adaptability for developing and hosting intelligent robot applications.展开更多
Concerns have been raised that the adoption of industrial robots in developed economies may hinder industrialization and displace jobs in emerging economies.However,the growing use of robots in emerging economies may ...Concerns have been raised that the adoption of industrial robots in developed economies may hinder industrialization and displace jobs in emerging economies.However,the growing use of robots in emerging economies may help mitigate these negative effects.This study,drawing on a theoretical model and empirical analysis,reveals that the adoption of robots in China,a developing country,significantly enhanced firms'positions in global value chains(GVCs).A detailed analysis reveals that markups and the structure of intermediate inputs were key mechanisms.The study also found that improvements in human capital enhanced the eficiency of robots,enabling firms to use them more effectively,which further strengthened the firms'position in GVCs.The positive impact of the adoption of robots on GVC upgrading was more pronounced in non-resourcebased cities and cities with high labor costs.Furthermore,the study highlights that robot adoption in medium-and high-tech industries had a greater impact on GVC upgrading.In conclusion,this study suggests that robot adoption in emerging economies can enhance their position in GVCs,with human capital playing a crucial role.展开更多
Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot e...Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article.展开更多
Due to the characteristics of high efficiency,wide working range,and high flexibility,industrial robots are being increasingly used in the industries of automotive,machining,electrical and electronic,rubber and plasti...Due to the characteristics of high efficiency,wide working range,and high flexibility,industrial robots are being increasingly used in the industries of automotive,machining,electrical and electronic,rubber and plastics,aerospace,food,etc.Whereas the low positioning accuracy,resulted from the serial configuration of industrial robots,has limited their further developments and applications in the field of high requirements for machining accuracy,e.g.,aircraft assembly.In this paper,a neural-network-based approach is proposed to improve the robots’positioning accuracy.Firstly,the neural network,optimized by a genetic particle swarm algorithm,is constructed to model and predict the positioning errors of an industrial robot.Next,the predicted errors are utilized to realize the compensation of the target points at the robot’s workspace.Finally,a series of experiments of the KUKA KR 500–3 industrial robot with no-load and drilling scenarios are implemented to validate the proposed method.The experimental results show that the positioning errors of the robot are reduced from 1.529 mm to 0.344 mm and from 1.879 mm to 0.227 mm for the no-load and drilling conditions,respectively,which means that the position accuracy of the robot is increased by 77.6%and 87.9%for the two experimental conditions,respectively.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.52005003)the Science and Technology Planning Project of Wuhu City(Grant No.2022jc41)。
文摘To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for constructing an industrial robot assembly system based on virtual reality technology.Focusing on the shaft hole assembly,the mechanical characteristics of the industrial robot shaft hole assembly process are analyzed and a dynamic model is established for shaft hole assembly operations.The key elements of virtual assembly operations for industrial robots are summarized and a five-dimensional model is proposed for industrial robot virtual operations.Utilizing the Unity3D engine based on the 5-D model for industrial robot virtual operations,an industrial robot shaft hole assembly system is developed.This system enables virtual assembly operations,displays physical attributes,and provides valuable references for the research of virtual systems.
基金Under the auspices of the Natural Science Foundation Project of Heilongjiang Province(No.LH2019D009)。
文摘The advancement of the intelligent manufacturing industry(IMI)represents the future direction for the world's manufactur-ing sector,offering a promising avenue to bolster national competitiveness and enhance industrial manufacturing efficiency.In this study,we took the industrial robot industry(IRI)as a case study to elucidate the spatial distribution and interconnections of IMI from a geographical perspective,and the modified diamond model(DM)was used to analyze the influencing factors.Results show that:1)the spatial pattern of IRI with various investment attributes in different industrial chain links is generally similar,centered in the southeast.Key investment areas are in the east and south.The spatial distribution of China's IRI covers a multitude of provinces and obtains differ-ent scales of investment in different countries(regions).2)The spatial correlation between foreign investors and China's provincial-level administrative regions(PARs)forms a network,and the network of foreign-invested enterprises is more stable.Different countries(regions)have distinct location preferences in China,with significant spatial differences in correlation degrees.3)Overall,the interac-tion of these factors shapes the location decisions and correlation patterns of industrial robot enterprises.This study not only contributes to our theoretical knowledge of the industrial spatial structure and industrial economy but also offers valuable references and sugges-tions for national IMI planning and relevant industry investors.
基金supported in part by the National Natural Science Foundation of China(61772493)in part by the Guangdong Province Universities and College Pearl River Scholar Funded Scheme(2019)in part by the Natural Science Foundation of Chongqing(cstc2019jcyjjq X0013)。
文摘With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.
基金National Natural Science Foundation of China(Grant No.51875287)National Defense Basic Scientific Research Program of China(Grant No.JCKY2018605C002)Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20190417).
文摘Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence.However,the low structural stiffness of a robot significantly affects its positional accuracy and the machining quality of its operation equipment.Studying robot stiffness characteristics and optimization methods is an effective method of improving the stiffness performance of a robot.Accordingly,aiming at the poor accuracy of stiffness modeling caused by approximating the stiffness of each joint as a constant,a variable stiffness identification method is proposed based on space gridding.Subsequently,a task-oriented axial stiffness evaluation index is proposed to quantitatively assess the stiffness performance in the machining direction.In addition,by analyzing the redundant kinematic characteristics of the robot machining system,a configuration optimization method is further developed to maximize the index.For numerous points or trajectory-processing tasks,a configuration smoothing strategy is proposed to rapidly acquire optimized configurations.Finally,experiments on a KR500 robot were conducted to verify the feasibility and validity of the proposed stiffness identification and configuration optimization methods.
基金supported in part by the Natural Science Foundation of the Jiangsu Higher Education Institutions of China under Grant 21KJA470007。
文摘The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the convolutional neural network(CNN)and the long short-term memory network(LSTM),is employed to approximate the nonlinear driving control system.CNN layers are introduced to extract dynamic features of the data,whereas LSTM layers perform time-sequential prediction of the target system.In terms of application,normal samples are fed into the observer to build an offline prediction model for the target system.The trained CNN-LSTM-based observer is then deployed along with the target system to estimate the system outputs.Online fault detection can be realized by analyzing the residuals.Finally,an application of the proposed fault detection method to a brushless DC motor drive system is given to verify the effectiveness of the proposed scheme.Simulation results indicate the impressive fault detection capability of the presented method for driving control systems of industrial robots.
基金Science and Technology Foundation of Jiangxi Province,China(No.TGS2018-01-02)。
文摘To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with the optimal time interval and the trajectory point angle,the trajectory route of the flexible polishing industrial robot for case parts was optimized by the Matlab software.The operation time of the flexible polishing industrial robot could reach the optimal level.The joints of the robot can be cooperated with each other to ensure that the motion track of the end-effector of the robot arm is closer to the expected motion track.Based on the Adams software,the obtained trajectory curve of multi-objective optimization was simulated,which verified the trajectory fitted after multi-objective optimization.The angular acceleration and angular plus acceleration curves were improved.Theoretical guidance was carried out for the subsequent experiment by Matlab and Adams simulation analysis.
文摘This paper proposes an uncalibrated workpiece positioning method for peg-in-hole assembly of a device using an industrial robot.Depth images are used to identify and locate the workpieces when a peg-in-hole assembly task is carried out by an industrial robot in a flexible production system.First,the depth image is thresholded according to the depth data of the workpiece surface so as to filter out the background interference.Second,a series of image processing and the feature recognition algorithms are executed to extract the outer contour features and locate the center point position.This image information,fed by the vision system,will drive the robot to achieve the positioning,approximately.Finally,the Hough circle detection algorithm is used to extract the features and the relevant parameters of the circular hole where the assembly would be done,on the color image,for accurate positioning.The experimental result shows that the positioning accuracy of this method is between 0.6-1.2 mm,in the used experimental system.The entire positioning process need not require complicated calibration,and the method is highly flexible.It is suitable for the automatic assembly tasks with multi-specification or in small batches,in a flexible production system.
基金supported by the National Key Technology R&D Program(2015BAK06B04)the key technologies R&D Program of Tianjin(14ZCZDSF00022)
文摘In order to further improve the serial ports communication mode of the general Flex Pendant for industrial robot,a multiple serial communication mode is put forward. It is used to meet the stability of data transmission,transmission distance,transmission speed,anti-interference and cost-effective. Using ADUM1201 single direction dual channel digital isolator,two pieces of MAX13487 E and a piece of MAX3232 chip to transmit data and files, and to control chip’ s electrical level. Selecting the RS232, RS422 and RS485 communication mode,the serial ports of the general Flex Pendant of industrial robot is optimized.
基金supported by Natural Science Foundation of Hunan Province,(Grant No.2022JJ30147)the National Natural Science Foundation of China (Grant No.51805155)the Foundation for Innovative Research Groups of National Natural Science Foundation of China (Grant No.51621004).
文摘This paper proposedmethod that combined transmission path analysis(TPA)and empirical mode decomposition(EMD)envelope analysis to solve the vibration problemof an industrial robot.Firstly,the deconvolution filter timedomain TPA method is proposed to trace the source along with the time variation.Secondly,the TPA method positioned themain source of robotic vibration under typically different working conditions.Thirdly,independent vibration testing of the Rotate Vector(RV)reducer is conducted under different loads and speeds,which are key components of an industrial robot.The method of EMD and Hilbert envelope was used to extract the fault feature of the RV reducer.Finally,the structural problems of the RV reducer were summarized.The vibration performance of industrial robots was improved through the RV reducer optimization.From the whole industrial robot to the local RV Reducer and then to the internal microstructure of the reducer,the source of defect information is traced accurately.Experimental results showed that the TPA and EMD hybrid methods were more accurate and efficient than traditional time-frequency analysis methods to solve industrial robot vibration problems.
基金the Research Fund of Faculty of Engineering,University of Malaya(Grant No.GPF052A-2018)
文摘In order to realize the optimal design of the industrial robot arm structure,an optimization method of the industrial robot arm structure based on green manufacturing technology is proposed.The stability of arm structure parameter acquisition can be controlled.The quantitative adjustment model of structural optimization parameters is constructed.The differential fusion control of the arm structure is realized.This paper analyzes the structure parameter law of the robot arm.We use dynamic parameter prediction and output torque parameter compensation method to control the arm structure.According to the adaptive iterative processing results,the arm structure parameter identification is realized.According to the identification results,the cutting parameter optimization method is adopted for the analytical control of the arm structure,and finally the optimized design of the industrial robot arm structure is realized through the green manufacturing technology.The simulation test results show that for the accuracy of the industrial robot arm structure design,this method is better,the output stability is higher,and the arm motion trajectory has a low deviation from the actual motion trajectory,which improves the optimization control and design capabilities of the industrial robot arm structure.
文摘The main features of morphological model of industrial robots are discussed, such as support system, manipulator and gripping device. These features are presented with the alternatives for their realization as separate modules. The examples of synthesis of arrangements of industrial robots are resulted on module principle with writing of their morphological formulas.
文摘Industrial robot is a multi-degree of freedom mechanical device, which has a certain degree of autonomy, can replace manual to complete high-precision and high-risk production operations, has the advantages of high degree of intelligence, easy management and perfect function, and has been widely used in the industrial field, which is of great significance to the upgrading and transformation of China's labor-intensive industries. Based on this, this paper focuses on the application of industrial robot electrical automation technology to be analyzed, hoping to help practitioners.
文摘With the rapid development of our country's economic level, science and technology in various fields have been significantly improved, among which industrial robots in the field of automation control are more and more widely used and have played a higher role, meeting the efficiency and quality requirements of most industrial production. Therefore, this paper analyzes and discusses the application of industrial robot technology in the field of automation control, combining with the current development of industrial robots and their own control systems, for reference.
文摘At present, with the continuous development and progress of intelligent technology and computer technology, the requirements for welding products in the market are gradually improved. Therefore, in order to ensure the quality and efficiency of welding products, welding robots can be applied in welding work. At present, welding robots have been widely used in the field of welding. Through the use of welding robot, the quality and efficiency of welding production can be improved to a certain extent, the working conditions of operators can be effectively improved, and the product quality can be effectively guaranteed, so as to ensure the product quality. Differentiated manufacturing also plays a role in promoting the modernization and transformation of related industries. Welding robot uses robot instead of manual operation, which involves using welding robot to complete welding work. According to the different welding methods used by welding robots, welding robots can be divided into welding robots, arc welding robots, laser welding robots and friction robots. Welding robot and other types, with the development of automation technology, welding robot can be divided into intelligent robot and teaching breeding robot.
文摘The application of industrial robot technology in industrial production can greatly increase the output, not only liberate more workers, but also obtain higher income at a lower cost. Especially in industrial production with high risks, high environmental pollution and strict requirements for precision, industrial robots have obvious advantages in practical applications, which not only ensure the quality of products, adapt to more working environments, but also obtain more benefits. Combined with the development in recent years, the technical characteristics of industrial robots are analyzed, and their applications and precautions in power control are pointed out, so as to make full use of their own technical advantages.
基金supported by the National Science Fund for Distinguished Young Scholars of China(Grant No.52025056)the National Natural Science Foundation of China(Grant No.52435003)the Fundamental Research Funds for the Central Universities。
文摘Health management of industrial robots is paramount for maintaining effective operations,ensuring consistent performance,minimizing downtime,and ultimately enhancing the safety and productivity of robotic systems.Since the invention of industrial robots,significant efforts have been dedicated to their health management.In recent years,thanks to advances in condition monitoring and fault diagnosis technologies of industrial robots,robot health management has shifted from scheduled maintenance to condition-based maintenance.This paper aims to comprehensively review the evolution of condition monitoring and fault diagnosis technologies that are critical for implementing condition-based maintenance of industrial robots.A brief introduction to robotic systems is given first to analyze the robot failure modes and their corresponding root causes.Next,the data acquisition strategies and commonly used sensors of industrial robots are investigated.Further,the development of robot condition monitoring and fault diagnosis technologies are reviewed,with an emphasis on the remarkable achievements and challenges in model-based and data-driven methods.Finally,the paper summarizes the challenges facing this research field and provides potential avenues for future advancements.
基金supported by the Zhejiang Province Key R&D Program of China(2023C01070).
文摘As the application of Industrial Robots(IRs)scales and related participants increase,the demands for intelligent Operation and Maintenance(O&M)and multi-tenant collaboration rise.Traditional methods could no longer cover the requirements,while the Industrial Internet of Things(IIoT)has been considered a promising solution.However,there’s a lack of IIoT platforms dedicated to IR O&M,including IR maintenance,process optimization,and knowledge sharing.In this context,this paper puts forward the multi-tenant-oriented ACbot platform,which attempts to provide the first holistic IIoT-based solution for O&M of IRs.Based on an information model designed for the IR field,ACbot has implemented an application architecture with resource and microservice management across the cloud and multiple edges.On this basis,we develop four vital applications including real-time monitoring,health management,process optimization,and knowledge graph.We have deployed the ACbot platform in real-world scenarios that contain various participants,types of IRs,and processes.To date,ACbot has been accessed by 10 organizations and managed 60 industrial robots,demonstrating that the platform fulfills our expectations.Furthermore,the application results also showcase its robustness,versatility,and adaptability for developing and hosting intelligent robot applications.
基金the support of the National Social Science Foundation Major Project(No.121&ZD071)the Wuhan University Graduate Advisor Education Method Innovation Project.
文摘Concerns have been raised that the adoption of industrial robots in developed economies may hinder industrialization and displace jobs in emerging economies.However,the growing use of robots in emerging economies may help mitigate these negative effects.This study,drawing on a theoretical model and empirical analysis,reveals that the adoption of robots in China,a developing country,significantly enhanced firms'positions in global value chains(GVCs).A detailed analysis reveals that markups and the structure of intermediate inputs were key mechanisms.The study also found that improvements in human capital enhanced the eficiency of robots,enabling firms to use them more effectively,which further strengthened the firms'position in GVCs.The positive impact of the adoption of robots on GVC upgrading was more pronounced in non-resourcebased cities and cities with high labor costs.Furthermore,the study highlights that robot adoption in medium-and high-tech industries had a greater impact on GVC upgrading.In conclusion,this study suggests that robot adoption in emerging economies can enhance their position in GVCs,with human capital playing a crucial role.
基金supported by the National Key Research and Development Program for Robotics Serialized Harmonic Reducer Fatigue Performance Analysis and Prediction and Life Enhancement Technology Research(Grant No. 2017YFB1300603)。
文摘Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article.
基金co-supported by the Natural Science Foundation of Jiangsu Province(No.BK20190417)the National Natural Science Foundation of China(No.52005254)the National Key R&D Program of China(No.2018YFB1306800)。
文摘Due to the characteristics of high efficiency,wide working range,and high flexibility,industrial robots are being increasingly used in the industries of automotive,machining,electrical and electronic,rubber and plastics,aerospace,food,etc.Whereas the low positioning accuracy,resulted from the serial configuration of industrial robots,has limited their further developments and applications in the field of high requirements for machining accuracy,e.g.,aircraft assembly.In this paper,a neural-network-based approach is proposed to improve the robots’positioning accuracy.Firstly,the neural network,optimized by a genetic particle swarm algorithm,is constructed to model and predict the positioning errors of an industrial robot.Next,the predicted errors are utilized to realize the compensation of the target points at the robot’s workspace.Finally,a series of experiments of the KUKA KR 500–3 industrial robot with no-load and drilling scenarios are implemented to validate the proposed method.The experimental results show that the positioning errors of the robot are reduced from 1.529 mm to 0.344 mm and from 1.879 mm to 0.227 mm for the no-load and drilling conditions,respectively,which means that the position accuracy of the robot is increased by 77.6%and 87.9%for the two experimental conditions,respectively.
