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Modeling and simulation of Cobot based on double over-running clutches

Modeling and simulation of Cobot based on double over-running clutches
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摘要 In order to analyze characteristics of Cobot cooperation with a human in a shared workspace, the model of a non-holonormic constraint joint mechanism and its control model were constructed based on double over-running clutches. The simulation analysis was carried out and it validated passive and constraint features of the joint mechanism. In terms of Cobot components, the control model of Cobot following a desired trajectory was built up. The simulation studies illustrate that the Cobot can track a desired trajectory and possess passive and constraint features; a human supplies operation force that makes Cobot move, and a computer system controls its motion trajectory. So it can meet the requirements of Cobot collaboration with an operator. The Cobot model can be used in applications of material moving, parts assembly and some situations requiring man-machine cooperation and so on. In order to analyze characteristics of Cobot cooperation with a human in a shared workspace, the model of a non-holonormic constraint joint mechanism and its control model were constructed based on double over-running clutches. The simulation analysis was carried out and it validated passive and constraint features of the joint mechanism. In terms of Cobot components, the control model of Cobot following a desired trajectory was built up. The simulation studies illustrate that the Cobot can track a desired trajectory and possess passive and constraint features ; a human supplies operation force that makes Cobot move, and a computer system con- trois its motion trajectory. So it can meet the requirements of Cobot collaboration with an operator. The Cobot model can be used in applications of material moving, parts assembly and some situations requiring man-machine cooperation and so on.
作者 董玉红 张立勋
机构地区 School of Mechanical and Power Engineering School of Mechanical and Electrical Engineering
出处 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2008年第1期50-54,共5页 哈尔滨工业大学学报（英文版）
基金 Sponsored by the National Natural Science Foundation of China(Grant No60275030)
关键词 机器人 离合器 模拟技术 计算机 Cobot over-running clutch non-holonormic constraint modeling simulation
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献9

  • 1张立勋,路敦民,王岚,沈锦华,R.Bernhardt.基于差动机构的五连杆式人机合作机器人的动力学分析[J].机器人,2004,26(2):123-126. 被引量：21
  • 2Moore C,,Peshkin M,Colgate E.Design of 3R cobot using continuous variable transmissions[].IEEE International Confer- ence on Robotics and Automation.1999
  • 3Boy E,,Burdet E,Teo C,et al.The learning of cobot[].Pro- ceeding of IMECE’ International Mechanical Engineering Conference and Exposition.2002
  • 4Schneider O,Troccaz J,Chavanon O,et al.PADyC: A synergistic robot for cardiac puncturing[].Proceedings of the IEEE International Conference on Robotics and Auto- mation.2000
  • 5Surdilovic D,Bernhardt R,Zhang L.A novel class of in- telligent power-assist systems based on differential CVT[].Proceeding of the IEEE International Conference Workshop on Robot &Human Interactive Communication.2002
  • 6Lu Dunmin,Zhang Lixun,Wang Lan,et al.Architecture and trajectory constraint control of a five bar Cobot[].Pro- ceeding of the Fifth World Congress on Intelligent Control and Automation.2004
  • 7Yuhong Dong,Lixun Zhang,Lan Wang,et al.A novel co- bot and control[].Proceeding of the Fifth World Congress on intelligent Control and Automation.2004
  • 8Surdilovic D,Bernhardt R,Zhang L.Newintelligent power-assist systems based on differential transmission[].Robotica.2003
  • 9ZHANG Li-xun 1,LU Dun-min 1 ,WANG Lan 1,SHEN Jin-hua 1,R.Bernhardt 2(1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China,2. Fraunhofer Institute IPK,Berlin\ 10587,Germany).Dynamics Analysis of Five-bar Cobot Based on Differential Mechanism[].Robotica.2004

二级参考文献5

  • 1[1]Surdilovic D, Bernhardt R, Zhang L. A novel class of intelligent power-assist systems based on differential CVT[A]. Proceedings of the 2002 IEEE International Conference Workshop on Robot & Human Interactive Communication[C].Berlin, Germany: 2002.25-27.
  • 2[2]Wannasuphoprasit W, Colage J, Peshkin M A.The design and control of scooter, a tricycle COBOT[A]. Proceedings of the 1997 IEEE International Conference on Robotics & Automation[C]. 1997.3249-3254.
  • 3[3]Boy E S, Burdet E, Teo C L, et al. The learning COBOT[A]. Proceeding of IMECE02 International Mechanical Engineering Conference and Exposition[C]. New Orleans: 2002.17-22.
  • 4[4]Schnieider O, Troccaz J. PADyC: a synergistic robot for cardic puncturing[A].Proceedings of the 2000 IEEE International Conference on Robotics & Automation[C]. San Francisco, CA: 2000.2883-2888.
  • 5[5]Moore C A, Peshkin M A, Colgate J E. Design of 3R COBOT using continuously variable transmissions[A]. Proceedings of the 1999 IEEE International Conference on Robotics & Automation[C]. Detroit, MI :1999.3249-3254.

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Journal of Harbin Institute of Technology(New Series)
2008年 第1期

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