Abstract
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.
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Acknowledgements
This paper was supported by “National Key Scientific Apparatus Development of Special Item” (2013YQ140517), “Nonlinear Dynamics model and Analysis of Gear Systems for Offset Press” (No. 61472461) and “Graduate School of electronics and communication engineering master’s degree joint training” (21090117006).
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Li, X., Cao, S., Xiang, H., Jin, Z., Wang, M. (2018). Modeling of the Robot of Sleeve Installation for Printing Machine. In: Zhao, P., Ouyang, Y., Xu, M., Yang, L., Ren, Y. (eds) Applied Sciences in Graphic Communication and Packaging. Lecture Notes in Electrical Engineering, vol 477. Springer, Singapore. https://doi.org/10.1007/978-981-10-7629-9_68
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DOI: https://doi.org/10.1007/978-981-10-7629-9_68
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