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Modeling of the Robot of Sleeve Installation for Printing Machine

机译：印刷机袖套安装机器人的建模

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摘要

Due to the low efficiency in the installation of the bearing sleeves for the printing machines and the great damages to the operators in the installation process, a robot of sleeve installation for printing machine is proposed. For the robot, the precise measurement and accurate model are the basis of completing assembly. Firstly we resolve the inverse solutions by the kinematics of 6-DOF parallel platform (Jiang et al. in Proc Inst Mech Eng 8, 2015, [1]) to obtain the Jacobian matrix between the thrust of rods and generalized force. Secondly, the kinetic equation among thrust rods, the platform position and speed is established by Lagrange equation (Sirouspour and Salcudean in Trans Robot Autom 17:173-182, [2]). Finally, the strategy of using probe-into measure tooling is put forward, which establishes the relative pose relations among the readings of probe-into measure tooling, platform and the through-holes. Thus, eventually, we can obtain the relationship between the readings of probe-into measure tooling and the thrust of rods, laying a foundation for the accurate controlling of robot based on probe-into measure tool.
机译：由于用于印刷机的轴承套的安装效率低并且在安装过程中对操作者造成很大的损害，因此提出了一种用于印刷机的套子安装机器人。对于机器人而言，精确的测量和准确的模型是完成组装的基础。首先，我们通过六自由度并联平台的运动学解决逆解（Jiang等人，Proc Inst Mech Eng 8，2015，[1]），以获得杆推力和广义力之间的雅可比矩阵。其次，通过拉格朗日方程建立推力杆之间的动力学方程，平台位置和速度（Trans Robot Autom 17：173-182中的Sirouspour和Salcudean，[2]）。最后提出了测头工具的使用策略，建立了测头工具的读数，平台和通孔之间的相对姿势关系。因此，最终，我们可以获得测头测量工具的读数与杆的推力之间的关系，为基于测头测量工具的机器人的精确控制奠定了基础。

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  • 来源
  • 会议地点 Beijing(CN)
  • 作者

    Xinpei Li; Shaozhong Cao; Hongfeng Xiang; Zhengjie Jin; Mingdao Wang;

  • 作者单位

    Beijing Key Laboratory of Signal and Information Processing for High-End Printing Equipment, Beijing Institute of Graphic Communication, Beijing, China;

    Beijing Key Laboratory of Signal and Information Processing for High-End Printing Equipment, Beijing Institute of Graphic Communication, Beijing, China;

    Beijing Key Laboratory of Signal and Information Processing for High-End Printing Equipment, Beijing Institute of Graphic Communication, Beijing, China;

    Beijing Key Laboratory of Signal and Information Processing for High-End Printing Equipment, Beijing Institute of Graphic Communication, Beijing, China;

    Beijing Key Laboratory of Signal and Information Processing for High-End Printing Equipment, Beijing Institute of Graphic Communication, Beijing, China;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Printer precision assembly robot; 6-DOF platform Inverse kinematics; Lagrange; Probe-into measuring tooling;

    机译：打印机精密组装机器人； 6自由度平台逆运动学;拉格朗日探入测量工具;

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