文化大學機構典藏 CCUR:Item 987654321/50426
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    题名: Stick–slip in hand guidance of palletizing robot as collaborative robot
    作者: Chuang, Yun-Ju
    Chang, Ho
    Sun, Yin-Tung
    Tsung, Tsing-Tshih
    贡献者: Department of Mechanical Engineering
    关键词: Cobot
    hand-guiding force
    hand-guiding variation
    ISO 10218
    ISO TS15066
    stick–slip with outstanding performance
    日期: 2022-09
    上传时间: 2022-11-22 16:13:58 (UTC+8)
    出版者: SAGE Publications Inc.
    摘要: Stick–slip is a challenging problem in palletizing robots and constitutes one of the main problems in precision positioning control. This study analyzed the stick–slip of a four-degree-of-freedom ceiling-mounted hand-guiding collaborative robot in a working space. A brief perspective on the focus of the experimental design is presented on the stick–slip friction of a palletizing robot’s hand guidance as a collaborative robot. The palletizing robot typically has a simple mechanical structure but possesses over 16 bearings to constrain the motion of the dual-parallelogram linkage mechanism. First, the hand-guiding force was successfully measured. Second, an image model was built based on the obtained measurement results. Third, the stick–slip results for the working space were analyzed using an image model. Finally, related conclusions and recommendations are provided for precision positioning control. A significant aspect of this study is identifying the hand-guiding force in the working space of a ceiling-mounted collaborative robot. Stick–slip in hand guiding is a critical issue and is therefore important for collaborative robot users. The main contribution of this study is developing a feasible method for helping researchers understand where stick–slip occurs.
    關聯: International Journal of Advanced Robotic Systems, 19(5)
    显示于类别:[機械工程系暨機械工程學系數位機電研究所] 期刊論文

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