Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint

Xingyu Yang, Dong Qiang, Zixuan Chen, Hao Wang, Zhengxue Zhou, Xuping Zhang*

*Corresponding author af dette arbejde

Publikation: Bidrag til bog/antologi/rapport/proceedingKonferencebidrag i proceedingsForskningpeer review

Abstract

Collaborative robots are gradually taking over the
leading position in automating the production and
manufacturing of the SMEs, where the human-robot
collaboration is highly emphasized. Therefore, estimating the
force and simulating the performance of robots are of great
importance. As a newly introduced technology, digital twin, has
gained more attentions for simulation, process evaluation,
real-time monitoring, etc. However, the current state-of-the-art
of digital twin for robots still remains on the kinematic level,
and the integrated robot system dynamics is too complex to be
incorporated into the digital twin. Therefore, this research
starts with the perspective of harmonic drive based robot joint,
and proposes a dynamic model of robot joint by analyzing the
composition, transmission principle, and internal interactions.
Then the experimental parameter identification is performed to
obtain the inherent parameters, which can reflect the system
performance characteristics. Finally, a preliminary digital twin
of robot joint integrated with dynamic model is established with
Gazebo and MATLAB. The proposed approach could be used to
simulate the dynamic behavior of robot joint in real time and
make contributions to the state of the art for digital twin.
OriginalsprogEngelsk
Titel2022 IEEE International Conference on Robotics and Automation, ICRA 2022
Antal sider7
ForlagIEEE
Publikationsdatomaj 2022
Sider4862-4868
ISBN (Elektronisk)9781728196817
DOI
StatusUdgivet - maj 2022
Begivenhed2022 IEEE International Conference on Robotics and Automation (ICRA) - Philadelphia, Philadelphia, USA
Varighed: 23 maj 202227 maj 2022
https://www.icra2022.org/

Konference

Konference2022 IEEE International Conference on Robotics and Automation (ICRA)
LokationPhiladelphia
Land/OmrådeUSA
ByPhiladelphia
Periode23/05/202227/05/2022
Internetadresse
NavnProceedings - IEEE International Conference on Robotics and Automation (ICRA)

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