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Technical Papers: Robotics (Industrial)


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Dynamic analysis of beam type substrate handling robot in solar cell manufacturing

Dong-Ii Park, Cheonlhoon Park, Yi-Jun Yoo, Hyunmin Do, Jin-Ho Kyung, 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Incheon, November 2011, pp. 794-795.

The dynamic motion of the robot and the vibration of the arms is simulated in RecurDyn. Precise control over heavy substrates require taking into account the flexible nature of the forks. RecurDyn is able to simulate the arms of the robot as flexible bodies to take bending into account during precise motion control.

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Dynamic Modeling of Flexible Glass Substrate Transfer Robot Arm (and meandering estimation)

Tae-Hyun Kim, Min-Su Jegal, Joonyoung Kim, Jae-Hwan Choe, Sung-Rak Kim, IEEE International Conference on Robotics and Automation (ICRA), Shanghai, May 2011, pp. 1-4.

RecurDyn is used to simulate a dynamic model of a belt-driven glass substrate transfer robot arm. The simulated results are compared to experimental results and the path errors are within 8%. This model can be used to determine how the material characteristics of each belt affect the meandering of the robot hand.

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Dynamic simulation and gravity balancing optimization of spot welding robot on RecurDyn

Yan-Shen Wang, Lian-Zheng Ge, Ping-Chun Xie, Yu-Xian Gai, International Conference on Mechatronics and Automation (ICMA), Beijing, August 2011, pp. 1905-1910.

RecurDyn simulated the driving torques of a spot welding robot. The driving torques provided useful information for motor selection and optimizing gravity balancing structures. The design could be easily modified and resimulated to test the improved design.

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Dynamic simulations of electromechanical robotic systems driven by DC motors

Moojin Kim, Wonkyu Moon, Daesung Bae, Ilhan Park, Robotica, October 2004, Volume 22, Issue 5, pp. 523-531.

Electromechanical coupling effects inside a DC motor have an influence on the dynamics of the entire system. RecurDyn was used to implement a solution which included this coupling effect. This result showed significant improvement over simulations which ignored the electromechanical coupling.

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Dynamics co-simulation of a type of spot welding robot by Recurdyn and Simulink

Yan-Shen Wang, Yu-Xian Gai, Ping-Chun Xie, Consumer Electronics, International Conference on Communications and Networks (CECNet), XianNing, April 2011, pp. 4934-4937.

A co-simulation with RecurDyn and Simulink was executed for dynamic control of a spot welding robot. Torques of each joint and the velocity of the clamp end from these simulations can provide useful information for optimizing robot design. New designs could be efficiently tested within RecurDyn without the need of a costly prototype.

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Multidisciplinary parametric design and evaluation of six degrees of freedom mechanical arm

Jiang Zhi-Xin, Tang Li, Zhang Zhi-Xiong, Ge Zhe-Xue, Liu Wei-Bo, Prognostics and System Health Management Conference (PHM-2014 Hunan), Zhangiiaijie, August 2014, pp. 383-386.

RecurDyn and Simulink are used to simulate a virtual prototype of a six degrees of freedom mechanical arm. The effectiveness of the control system can be easily evaluated and improved using a co-simulation with RecurDyn and Simulink.

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Path planning of a Robot Manipulator using Retrieval RRT Strategy

Kyongsae Oh, Euntai Kim, Young-Wan Cho, International Journal of Fuzzy Logic and Intelligent Systems, 2007, Volume 7, Issue 2, pp 138-142.

Through co-simulation of RecurDyn and Simulink robot motion can be intelligently planned in a changing environment. RecurDyn can be used to change the environment around the robot to ensure the control algorithm is robust for a large number of environments.

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Pose Tracking Control of an Omni-directional Wheel-type Robot for a Heavy-water Nuclear Reactor

Hye-Won Shin, Hyung Kim, Sang-Chan Moon, Soon-Geul Lee, 13th International Conference on Control, Automation and Systems (ICCAS), Gwangju, October 2013, pp 651-656.

RecurDyn with the CoLink module can be used to design a PID controller. Errors can be easily tracked and corrected within RecurDyn. The dynamic response to the PID controller can be tracked over time to give feedback on the efficiency of the control strategy.

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Research and Design of Coal Preparation Plant Inspection Robot

Guang Yan, Jun Wang, Meiqiang Zhu, Haibin Ji, Chinese Control and Decision Conference (CCDC), 2011, pp 2393-2395.

RecurDyn is used to make a virtual prototype of an inspection robot in a coal preparation plant. A virtual prototype is useful in identifying problems early in the design process and reducing the cost of physical prototypes.

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Crawling Gait Planning for a Quadruped Robot with High Payload Walking on Irregular Terrain

Nan Hu, Shaoyuan Li, Dan Huang, Feng Gao, 19th IFAC World Congress, Cape Town, 2014, Volume 19, Part 1, pp 2153-2158.

RecurDyn is used to verify the design of a Force-Posture Feedback Compensation Controller for a quadruped robot. The design could be verified in RecurDyn before making a physical prototype. A new control method was designed which was more stable while walking on irregular terrain.

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Analysis and simulation of kinematics of 5-DOF nuclear power station robot manipulator

Chunchao Chen, Jinsong Li, Jun Luo, Shaorong Xie, Huayan Pu, Ze Cui, Jason Gu, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 2014, pp 2025-2030.

Through a co-simulation between MATLAB and RecurDyn the problem of opening a door with a robot can be simulated and optimized. RecurDyn was able to analyze the dynamics of the robot during this control sequence. The control algorithm could then be improved to provide smoother motion.

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