Abstract
For several years, manufacturers are tending towards the massive use of robots in order to increase the precision of certain manipulations and on the other hand to improve their productivity. This is why, several activities such as handling, assembly, welding, painting, etc… have been attributed to these robots. Thus, to be able to simulate its behavior or to control a robot according to the needs of its operation, it is necessary to go through the first step, which is its modeling. This chapter presents the necessary steps and methods to follow in order to develop the dynamic model of any robot manipulator (open chain, serial). These robots have been constructed to be mechanically rigid, but due to their fast movements, the low flexibility of the articulations may affect their activities. For this reason, the proposed model will consider the flexibility of the joints. Three springs are integrated to model the joint elasticity, as well as the flexibility of the axes between the driven bodies and the output shafts of the gearboxes, and the meshing phenomenon inside the gearbox transmissions. The proposed dynamic model is developed based on Denavit-Hartenberg Modified (DHM) method and using the Euler-Lagrange approach. Therefore, the purpose of this work is to study the effect of the joints flexibilities on the robot behavior.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Van der Aalst, W.M., Bichler, M., Heinzl, A.: Robotic process automation. Bus. Inf. Syst. Eng. 60(4), 269–272 (2018)
Bruno, S., Lorenzo, S., Luigi, V., Giuseppe, O.: Robotics: Modelling, Planning and Control. Spinger (2010)
Siciliano, B., Khatib, O. (eds.): Springer Handbook of Robotics. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-32552-1
Denavit, J., Hartenberg, R.S.: A Kinematic notation for lower-pair mechanisms based on matrices. J. Appl. Mech. 22(2), 215–221 (1955). https://doi.org/10.1115/1.4011045
Khalil, W., Kleinfinger, J.: A new geometric notation for open and closed-loop robots. In: Proceedings 1986 IEEE International Conference on Robotics and Automation, vol. 3, pp. 1174–1179 (1986)
De Luca, A., Book, W.J.: Robots with flexible elements. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 243–282. Springer International Publishing, Cham (2016). https://doi.org/10.1007/978-3-319-32552-1_11
Spong, M.W.: Modeling and control of elastic joint robots. J. Dyn. Syst. Meas. Control 109(4), 310–318 (1987)
Qiang, Y., Jing, F., Zeng, J., Hou, Z.: Dynamic modeling and vibration mode analysis for an industrial robot with rigid links and flexible joints. In: 2012 24th Chinese Control and Decision Conference (CCDC), pp. 3317–3321 (2012)
Farhat, M.H., Hentati, T., Chiementin, X., Bolaers, F., Chaari, F., Haddar, M.: Numerical model of a single stage gearbox under variable regime. Mechanics Based Design of Structures and Machines 1–28 (2020)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Frej, A., Chaari, F., Chiementin, X., Bolares, F., Haddar, M. (2023). Modeling of Robot Gear Transmission. In: Walha, L., et al. Design and Modeling of Mechanical Systems - V. CMSM 2021. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-031-14615-2_9
Download citation
DOI: https://doi.org/10.1007/978-3-031-14615-2_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-14614-5
Online ISBN: 978-3-031-14615-2
eBook Packages: EngineeringEngineering (R0)