An extended stiffness model for 7 Dofs collaborative robots using the virtual joint method
文献类型：会议论文
| 作者 | Hu MW(胡明伟)1,2,3 ; Wang HG(王洪光)1,2; Pan XA(潘新安)1,2
|
| 出版日期 | 2019 |
| 会议日期 | December 6-8, 2019 |
| 会议地点 | Dali, China |
| 关键词 | Collaborative robots Stiffness modeling Virtual joint method |
| 页码 | 1653-1658 |
| 其他题名 | An extended stiffness model for 7 Dofs collaborative robots using the virtual joint method.pdf |
| 英文摘要 | In order to improve the stiffness modeling accuracy, an extended stiffness modeling and identification method of a 7 degrees of freedom(Dofs) collaborative robot is introduced in this paper. Unlike the traditional stiffness model which is assumed that each actuated joint is presented by a single one-dimensional virtual spring, the compliance of links, bearings and other structural components are considered and equivalent to two virtual joints in this method. These two additional virtual joints are orthogonal to the rotation axis of actuated joints. Including the equivalent virtual joint of joint torsional stiffness, each actuated joint of the robot has three virtual joints eventually. The method extends the traditional virtual joint method(VJM) and opens new prospects in terms of the stiffness optimal synthesis. Meanwhile, the accuracy of stiffness modeling is improved. Based on a 7 Dofs collaborative robot SHIR5, the static compliance simulations are performed to identify the elastic parameters of the robot, and the results show that more precise Cartesian stiffness characteristics are obtained from the extended stiffness model. Finally, the influence of compliance of links, bearings and other structural components on the stiffness model of the robot are analyzed. |
| 产权排序 | 1 |
| 会议录 | IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-6321-5 |
| 源URL | [http://ir.sia.cn/handle/173321/26284]  |
| 专题 | 工艺装备与智能机器人研究室 |
| 通讯作者 | Hu MW(胡明伟) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 114 Nanta Street, Shenyang City, Liaoning Province, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, 114 Nanta Street, Shenyang City, Liaoning Province, China 3.University of Chinese Academy of Sciences, 114 Nanta Street, Shenyang City, Liaoning Province, China |
| 推荐引用方式 GB/T 7714 | Hu MW,Wang HG,Pan XA. An extended stiffness model for 7 Dofs collaborative robots using the virtual joint method[C]. 见:. Dali, China. December 6-8, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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