کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
1698631 | 1519308 | 2016 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Self-supporting End Effectors: Towards Low Powered Robots for High Power Tasks
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
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چکیده انگلیسی
New tasks for industrial robots often require high stiffness or entail high reaction forces, which are currently provided by the robot structure itself. This leads to heavy and expensive robot structures: designed for the main task, but oversized for positioning and movement tasks.We propose a new approach to resolve these contradicting requirements: supporting the end effector directly against the workpiece or its surroundings, thus diverting the reaction forces away from the robot structure. We demonstrate this approach in a joining application and present design methods for self-supporting robotic tools as well as potential industrial applications of this technique.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Procedia CIRP - Volume 44, 2016, Pages 418–423
Journal: Procedia CIRP - Volume 44, 2016, Pages 418–423
نویسندگان
Jakob K. Heyn, Raphael Schnurr, Franz Dietrich, Klaus Dröder,