Vibration Diagnosis and Optimization of Industrial Robot Based on TPA and EMD Methods

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.

Fault Detection for Motor Drive Control System of Industrial Robots Using CNN-LSTM-based Observers

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.

基于RobotStudio的视觉分拣打磨工作站仿真设计

为解决中小型零件混流自动化生产等问题,提出基于RobotStudio的工业机器人视觉分拣打磨工作站的仿真设计方案。根据零件的生产工艺流程,利用UG软件创建视觉分拣打磨工作站的整体布局;通过分析工作站各个模块功能,设计了各模块的结构;利用RobotStudio软件构建了工作站仿真模型。以视觉引导Smart组件和输送链跟踪仿真为例,阐述了ABB工业机器人通过视觉引导获取工件空间位姿的四元数和欧拉角的转换方法,并介绍了视觉拍照、机器人与工业相机通信等动态仿真的设置过程,以及输送链跟踪动态效果的设置方法。为实现工作站全过程仿真,设计了整体工作站逻辑,编制了仿真工作站离线程序,并将仿真工作站同步到实验平台调试验证。该设计可为智能制造生产线的设计、制造及应用提供参考。

基于Robotstudio的工业机器人课程教学设计与实践

阐述工业机器人实训课程教学实践,将Robotstudio软件融入课程教学中,探讨以实例项目驱动的教学内容设计,以虚实结合手段提升课堂教学效果的教学模式,从而实现教学与实践的统一。

An Overview of Calibration Technology of Industrial Robots

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.

Variable Stiffness Identification and Configuration Optimization of Industrial Robots for Machining Tasks

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.

Technology Foresight Research of Industrial Robot Based on Patent Analysis

In view of the lack of patent big data in research on technology foresight in the industrial robot field, this paper introduces an improved method based on patent mining and knowledge map. Firstly, SAO structure is extracted from selected patents, secondly, the similarity between patents is calculated based on extracted SAO structure, thirdly, patent network and patent map are drawn based on calculated patent similarity matrix, technology evolution process and future trends of industrial robot are summarized from patent network, and future potential technology opportunities are predicted based on technological vacancies identified from patent map. Finally, this paper identifies six key technical areas and four potential technical opportunities in the field of the industrial robot.

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅰ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.

Optimization of Serial Port of General Flex Pendant for Industrial Robot

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.

Uncalibrated Workpiece Positioning Method for Peg-in-hole Assembly Using an Industrial Robot

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.

基于Robot Studio的造船业智能机器人应用平台仿真研究

针对船厂无人化智能化的需求,搭建一个通用智能机器人应用平台并进行仿真研究。通过Robot Studio和其他建模、编程、通信软件的配合,打通PLC到智能机器人的通信和控制,模拟该平台在一条船厂焊接生产线上的生产控制方式,展示该平台的编程思路和仿真结果。仿真结果实现了从人机交互到机器人完成焊接工作的全部流程,复现了该产线全生产周期的工作状态,为船厂未来智能化发展提供了一种新思路。

Trajectory Optimization and Motion Simulation of a Flexible Polishing Industrial Robot for Watchcases

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.

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.

Industrial Robot Technology and Its Typical Application Analysis

With the rising of the manufacturing industry in our neighboring countries,China no longer has advantages in manufacturing sector.New development situation and tasks make it extremely urgent to establish a new manufacturing system featuring standardization,modularization,network and intelligence.Therefore,research on industrial robot technology is of great practical significance.It is believed that in the near future,industrial robots will become an important driving force for the transformation and upgrade of China’s manufacturing industry.

Application of Industrial Robots in Stamping Automation Production Line

Since the reform and opening up, China's economy has developed rapidly and the society has been continuously improving. At the same time, in order to facilitate people's travel, the automobile industry has emerged, which has brought great convenience to people's production and life, and has also promoted the progress of society. In recent years, au-tomation technology has been continuously researched and developed by people, and it has been widely used in people's production and life. In order to improve the efficiency and modernization level of the automobile industry, the paper studies the application of industrial robots in the stamping automation production line, hoping to adapt to the new trend of economic development.

The optimization method of industrial robot arm structure based on green manufacturing technology

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.

基于RobotStudio的机器人码垛工作站仿真与优化研究

工业机器人码垛应用非常普遍,利用ABB工业机器人仿真软件RobotStudio,搭建了一个简单码垛工作站,完成了整个工作站的布局。同时,通过软件中的建模功能和工具创建功能,实现了工业机器人末端执行器的设计。接着,完成了工作站中末端执行器的动态smart组件功能、系统的I/O设置与连接,以及整个工作站的程序设计与分析。最后,在不同机器人TCP运行速度下进行工作站仿真,将运行时间、速度运行轨迹和机器人能耗进行对比分析,从而选择较优的TCP运行速度。该仿真设计,能有效地为实际码垛工作站的优化提供有效参考和理论依据,从而减少调试时间和研究成本。

Application of the Morphological Analysis for the Synthesis Arrangements of Industrial Robots with Parallel Structure Mechanisms

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.