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Stiffness modeling and analysis of a multiple coordinated robot system

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Abstract

In this paper, we discuss about multiple coordinated robots that can form a fixtureless manufacturing cell. It is very important to ensure that the system stiffness is sufficient for manufacturing operations when external forces are exerted on the system. For this reason, a method is developed to model and analyze the stiffness of a multiple coordinated robot system. In this paper, first, the stiffness of a multiple coordinated robot system is defined. Similar to a single-arm robot, this definition provides us with a criterion to evaluate the stiffness performance of the entire multiple robot system. Second, a static stiffness model is derived including joint stiffness and link stiffness, and then this model is extended to a multiple robot system. Third, the coordinated static stiffness model is validated, and a comparison is made through simulation between a dual robot system and a single robot system. Finally, the developed model is applied to a real coordinated dual-arm robot system for validation.

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Funding

This research work was supported by National Key Technology Support Programme of China (2015BAF10B01), Science and Technology Commission of Shanghai Municipality (15111104002, 15111106302, 16111107802, and 16111108202), Shanghai Training and Support Programme for University Youth Teachers (ZZSD15050), and Innovation Programme of Shanghai Municipal Education Commission (2015Z102800006).

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Authors and Affiliations

  1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072, China

    Yingzhong Tian, Bowen Wang, Jiaorong Liu, Hao Shen & Long Li

  2. Department of Mechanical, Aerospace and Industrial Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada

    Fengfeng Xi

  3. SHANGHAI-FANUC Robotics CO., LTD, Shanghai, 201906, China

    Hao Shen

  4. Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai, 200072, China

    Yingzhong Tian, Fengfeng Xi & Long Li

Authors
  1. Yingzhong Tian
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  2. Bowen Wang
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  3. Jiaorong Liu
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  4. Hao Shen
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  5. Fengfeng Xi
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  6. Long Li
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Correspondence to Long Li.

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Tian, Y., Wang, B., Liu, J. et al. Stiffness modeling and analysis of a multiple coordinated robot system. Int J Adv Manuf Technol 94, 4265–4276 (2018). https://doi.org/10.1007/s00170-017-1085-4

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  • DOI: https://doi.org/10.1007/s00170-017-1085-4

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