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Research Papers

Dynamic Analysis for Robotic Integration of Tooling Systems

[+] Author and Article Information
Yuwen Li

Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canadayuwen.li@mail.mcgill.ca

Jeff Xi1

Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canadafengxi@ryerson.ca

Richard Phillip Mohamed

Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canadar3mohame@ryerson.ca

Kamran Behdinan

Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canadakbehdina@ryerson.ca

1

Corresponding author.

J. Dyn. Sys., Meas., Control 133(4), 041002 (Apr 06, 2011) (8 pages) doi:10.1115/1.4003375 History: Received January 23, 2010; Revised October 23, 2010; Published April 06, 2011; Online April 06, 2011

This paper presents a dynamic analysis method for robotic integration of tooling systems. This development is motivated by the fact that many modern robotic automation tasks require large and heavy tooling systems. Yet, the integration of these tooling systems is usually done only considering the geometric constraints and weights without resorting to dynamic analysis. To resolve this problem, the equations of motion of a robot with inclusion of a tooling system are derived using the Lagrangian formulation. Three performance indices are introduced to evaluate the influence of the tooling system on the overall dynamics. The first index measures the energy consumption due to the tooling system’s motion, the second index evaluates the influence of the tooling system on the fundamental frequency, and the third one is the dynamic manipulability ellipsoid to measure the acceleration capability of the tool tip. Simulation studies are carried out to provide guidelines for the design of tooling systems. To demonstrate its effectiveness, the proposed method is applied to facilitate the tooling integration used in the robotic riveting for aerospace assembly.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

An n-DOF robot with a tooling system

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Figure 2

Simulated robot and reference frames

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Figure 3

Variations of η¯min, η¯max, e¯v, w¯1, w¯2, and w¯3 with mt

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Figure 4

Contours of dynamic performance indices (mt=0.2m3)

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Figure 5

Variations of η¯min, η¯max, e¯v, w¯1, w¯2, and w¯3 with lt

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Figure 6

CAD models of percussive and squeezing tooling systems

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Figure 7

(a) Variations of fw1, fw2, and fw3 with θt and (b) DME with maximum fw3

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