Details
| Original language | English |
|---|---|
| Pages (from-to) | 67-72 |
| Number of pages | 6 |
| Journal | Procedia CIRP |
| Volume | 9 |
| Publication status | Published - 20 Jul 2013 |
| Event | 2nd CIRP Global Web Conference on Beyond Modern Manufacturing: Technology for the Factories of the Future, CIRPe 2013 - Patras, Greece Duration: 11 Jun 2013 → 12 Jun 2013 |
Abstract
In this paper an innovative drive concept for robots to improve their machining capability is presented. As a test bed a two-axis robot is designed and equipped with torque motors with load-sided high resolution encoders in addition to conventional gear motors with harmonic drive gearboxes. The gear motors are used for positioning tasks while the torque motors in particular compensate static and dynamic load-sided angle errors. The model-based control algorithm is decoupled and separately actuates both the servo gear and torque motors. It is shown that a considerable increase of performance is possible when adding the torque motors especially regarding the compensation of dynamic angle errors. The paper will present the design and details of the new drive concept, the modeling basics and first simulation results.
Keywords
- Control loop, Design, Drive chain, Machining, Robotics
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: Procedia CIRP, Vol. 9, 20.07.2013, p. 67-72.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Innovative Drive Concept for Machining Robots
AU - Denkena, B.
AU - Litwinski, K.
AU - Schönherr, Marcus
N1 - Funding information: The authors would like to thank the ministry of science and culture of Lower Saxony (MWK) for funding the research project within the cluster “Pro³gression” (www.pro3gression.uni-hannover.de).
PY - 2013/7/20
Y1 - 2013/7/20
N2 - In this paper an innovative drive concept for robots to improve their machining capability is presented. As a test bed a two-axis robot is designed and equipped with torque motors with load-sided high resolution encoders in addition to conventional gear motors with harmonic drive gearboxes. The gear motors are used for positioning tasks while the torque motors in particular compensate static and dynamic load-sided angle errors. The model-based control algorithm is decoupled and separately actuates both the servo gear and torque motors. It is shown that a considerable increase of performance is possible when adding the torque motors especially regarding the compensation of dynamic angle errors. The paper will present the design and details of the new drive concept, the modeling basics and first simulation results.
AB - In this paper an innovative drive concept for robots to improve their machining capability is presented. As a test bed a two-axis robot is designed and equipped with torque motors with load-sided high resolution encoders in addition to conventional gear motors with harmonic drive gearboxes. The gear motors are used for positioning tasks while the torque motors in particular compensate static and dynamic load-sided angle errors. The model-based control algorithm is decoupled and separately actuates both the servo gear and torque motors. It is shown that a considerable increase of performance is possible when adding the torque motors especially regarding the compensation of dynamic angle errors. The paper will present the design and details of the new drive concept, the modeling basics and first simulation results.
KW - Control loop
KW - Design
KW - Drive chain
KW - Machining
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=84881121788&partnerID=8YFLogxK
U2 - 10.1016/j.procir.2013.06.170
DO - 10.1016/j.procir.2013.06.170
M3 - Conference article
AN - SCOPUS:84881121788
VL - 9
SP - 67
EP - 72
JO - Procedia CIRP
JF - Procedia CIRP
SN - 2212-8271
T2 - 2nd CIRP Global Web Conference on Beyond Modern Manufacturing: Technology for the Factories of the Future, CIRPe 2013
Y2 - 11 June 2013 through 12 June 2013
ER -