{"title":"Precision optimized process design for highly repeatable handling with articulated industrial robots","authors":"","doi":"10.1016/j.cirp.2024.03.008","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":55256,"journal":{"name":"Cirp Annals-Manufacturing Technology","volume":"73 1","pages":"Pages 25-28"},"PeriodicalIF":3.2000,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0007850624000088/pdfft?md5=eb587f2fe5f06e0af870cc97d58c0fae&pid=1-s2.0-S0007850624000088-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Cirp Annals-Manufacturing Technology","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0007850624000088","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, INDUSTRIAL","Score":null,"Total":0}
引用次数: 0
Abstract
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.
期刊介绍：
CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems.
This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include:
Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.
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