运动学
机器人
重复性
过程(计算)
控制工程
刚度
灵敏度(控制系统)
计算机科学
工程类
模拟
人工智能
电子工程
结构工程
经典力学
色谱法
操作系统
物理
化学
作者
Philip Gümbel,Klaus Dröder
出处
期刊:CIRP Annals
[Elsevier]
日期:2024-01-01
卷期号:73 (1): 25-28
被引量:1
标识
DOI:10.1016/j.cirp.2024.03.008
摘要
High-precision handling processes are essential for various high-tech industries and are typically realized using specialized high precision robots. Articulated robots are rarely used for such tasks due to their low stiffness and accuracy stemming from their kinematic structure. This work presents a methodology for designing handling processes that maximise repeatability with articulated robots. By considering their kinematic structures' highly pose dependent properties as well as sensitivity to external disturbances in every step of the processes design, significantly improved repeatability can be achieved. The applicability of the new methodology is verified experimentally using the example of handling of large silicon dies.
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