Innovative drive concept for machining robots

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dc.identifier.uri http://dx.doi.org/10.15488/991
dc.identifier.uri http://www.repo.uni-hannover.de/handle/123456789/1015
dc.contributor.author Denkena, Berend
dc.contributor.author Litwinski, K.
dc.contributor.author Schönherr, M.
dc.date.accessioned 2016-12-22T11:22:37Z
dc.date.available 2016-12-22T11:22:37Z
dc.date.issued 2013
dc.identifier.citation Denkena, B.; Litwinski, K.; Schönherr, M.: Innovative drive concept for machining robots. In: Procedia CIRP 9 (2013), S. 67-72. DOI: https://doi.org/10.1016/j.procir.2013.06.170
dc.description.abstract In this paper an innovative drive concept for robots to improve their machining capability is presented. As a test bed a two-axis robot is designed and equipped with torque motors with load-sided high resolution encoders in addition to conventional gear motors with harmonic drive gearboxes. The gear motors are used for positioning tasks while the torque motors in particular compensate static and dynamic load-sided angle errors. The model-based control algorithm is decoupled and separately actuates both the servo gear and torque motors. It is shown that a considerable increase of performance is possible when adding the torque motors especially regarding the compensation of dynamic angle errors. The paper will present the design and details of the new drive concept, the modeling basics and first simulation results. eng
dc.language.iso eng
dc.publisher Amsterdam : Elsevier
dc.relation.ispartof 2nd CIRP Global Web Conference on Beyond Modern Manufacturing: Technology for the Factories of the Future, CIRPe 2013, 11-12 June 2013, Patras, Greece
dc.relation.ispartofseries Procedia CIRP 9 (2013)
dc.rights CC BY-NC-ND 3.0
dc.rights.uri https://creativecommons.org/licenses/by-nc-nd/3.0/
dc.subject Drive chain eng
dc.subject Machining eng
dc.subject Robotics eng
dc.subject Control loop eng
dc.subject Harmonic drive eng
dc.subject High resolution eng
dc.subject Machining capabilities eng
dc.subject Machining robot eng
dc.subject Model-based control eng
dc.subject Positioning tasks eng
dc.subject Algorithms eng
dc.subject Design eng
dc.subject Dynamic loads eng
dc.subject Equipment testing eng
dc.subject Errors eng
dc.subject Linear motors eng
dc.subject Machining eng
dc.subject Manufacture eng
dc.subject Robotics eng
dc.subject Torque motors eng
dc.subject Servomotors eng
dc.subject.ddc 600 | Technik ger
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title Innovative drive concept for machining robots
dc.type article
dc.type conferenceObject
dc.type Text
dc.relation.issn 22128271
dc.relation.doi https://doi.org/10.1016/j.procir.2013.06.170
dc.bibliographicCitation.volume 9
dc.bibliographicCitation.firstPage 67
dc.bibliographicCitation.lastPage 72
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


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