A Dual-Arm Robot That Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks
نویسندگان
چکیده
This paper proposes a combined planning and optimization method that enables dual-arm robot to lift up flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead directly manipulating robots cannot afford, develops planner for operate assumes target plate pre-attached hook. It optimizes action sequences plans robot’s motion pulls rope blocks plate. reduce each robotic arm needs bear. When lifted satisfying pose, sliding-pushing one arms tumble over while considering force moment constraints. article presents technical details several experiments analysis carried out made two Universal Robots UR3 arms. influence various parameters goals are investigated compared in depth. results show proposed flexible efficient. cleaning process factory produces sewage press machines. pressboard machines could be as 1000 kg. Human workers need clean both sides board before installing them main axis machine. Their solution gantry crane. They attach hook bearing belts, activate board. raised turn pushing it. Motivated human workers’ actions, we developed presented this paper. We assumed analysis, but practice, they may replaced with electronic ones improve effort efficiency. Using will sub-problem since there no pulling ropes. expected help company’s technicians better judge if manipulator or keep their current equipment employing intelligent them. As result, it accelerate upgrade manufacturing sites reducing reforming budgets. Note Practitioners—This
منابع مشابه
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متن کاملelectronical and mechanical system modeling of robot dynamics using a mass/pulley model
the well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. a new model that was previously proposed by the authors that combines a mass with a pulley (mp) is shown to simulat...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automation Science and Engineering
سال: 2022
ISSN: ['1545-5955', '1558-3783']
DOI: https://doi.org/10.1109/tase.2021.3121586