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Article
Kinematic Analysis of Semi-Flexible Robot
التحليل الكينماتيكي لروبوت شبه مرن

Authors: Muhsin J. Jweeg --- Hussein M. Al-Khafaji
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2012 Volume: 30 Issue: 13 Pages: 2265-2284
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

In this work, a kinematic model of semi- flexible robot with two degrees offreedom based on the joint angles and arm’s deflections is presented with taking inconsideration the small deflection parameter (exact model), and used experimentaldeformation results to make a comparison between the approximate model and theexact model. Due to the difficulties of using flexible robot in the real live, a twodegrees semi-flexible robot was built; this robot will be used to get the experimentalresults for comparison. The comparison shows a small difference between theapproximate model and the exact model, so with increasing the flexibility thisdifference will increase and in some applications of robot this difference will besignificant and worth to take in consideration.

في هذا العمل، تم تقديم نموذج كينماتيكي لروبوت شبه مرن بدرجتين من الحرية، اخذا بنظرالاعتبار وجود انحناء الاذرع مع الاخذ بنظر الاعتبار القيم الصغيرة لمتغيرات التشوه. وباستخدامنتائج عملية لقيم التشوه تم عمل مقارنة مع هذا النموذج بدون تقريب مع نموذج مع التقريب. نتيجةلصعوبة استخدام روبوت مرن في الحياة العملية، تم بناء روبوت شبه مرن لاستخدامه في الحصولعلى النتائج العملية اللازمة لعملية المقارنة. ان المقارنة بينت وجود فرق صغير مابين النموذجين،وانه مع زيادة المرونة فأن الفرق سيزيد وفي بعض التطبيقات فأن هذا الفرق يكون ذو تأثير كبيريستحق ان يؤخذ بالحسبان


Article
Compensating the End-Effector Position of Semi-Flexible Robot Using Smart Structure Technique

Authors: Hussein M. Al-Khafaji --- Muhsin J. Jweeg
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2014 Volume: 14 Issue: 2 Pages: 33-42
Publisher: Basrah University جامعة البصرة

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Abstract

This study proposed the using of a smart structure principle with a methodology for reducing the difference (error) between the actual position (for a semi-flexible robot) and the theoretically calculated position (for a rigid robot) on-line. The methodology depends on the interfering between the maps of the two cases; the rigid case (ideal), and the deformed case (actual) for compensation of error. According to this methodology, a class (program) was built using the visual Basic.Net; this class is called the compensation class. In this work, a two degrees of freedom articulated type lightweight semi-flexible robot was used. This robot is confined to move in a vertical plane. The smart structure system was represented by; the sensors for measuring the error deformation variables were mounted on the two links of the robot, Data acquisition (DAQ) system and the actuators of the joints. The smart structure robot systems were designed and built in this work. Also, to control the smart structure robot’s systems, software was built using Visual Basic.Net. Compensation tests have been achieved on the complete system to check the performance and results of the compensation system. This system showed a good improvement in the performance of robot for compensation and reduction in the error between the ideal position (rigid robot) and the practical position (measured position). The average error after the compensation reduced to 12.32 times in the x-direction and 21.76 times in the y-direction.

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