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 for this work

Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearchpeer-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.
Original languageEnglish
Title of host publication2022 IEEE International Conference on Robotics and Automation, ICRA 2022
Number of pages7
PublisherIEEE
Publication dateMay 2022
Pages4862-4868
ISBN (Electronic)9781728196817
DOIs
Publication statusPublished - May 2022
Event2022 IEEE International Conference on Robotics and Automation (ICRA) - Philadelphia, Philadelphia, United States
Duration: 23 May 202227 May 2022
https://www.icra2022.org/

Conference

Conference2022 IEEE International Conference on Robotics and Automation (ICRA)
LocationPhiladelphia
Country/TerritoryUnited States
CityPhiladelphia
Period23/05/202227/05/2022
Internet address
SeriesProceedings - IEEE International Conference on Robotics and Automation (ICRA)

Keywords

  • Collaborative Robot Joint
  • Dynamic Modeling
  • Harmonic Drive
  • Parameter Identification
  • Digital Twin

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