Industrial manipulators are robots used to replace humans in dangerous or repetitive tasks. Also, these devices are often used for applications where high precision and accuracy is required. The increase of backlash caused by wear, that is, the increase of the amount by which teeth space exceeds the thickness of gear teeth, might be a significant problem, that could lead to impaired performances or even abrupt failures. However, maintenance is difficult to schedule because backlash cannot be directly measured and its effects only appear in closed loops. This paper proposes a novel technique, based on an Evolutionary Algorithm, to estimate the increase of backlash in a robot joint transmission. The peculiarity of this method is that it only requires measurements from the motor encoder. Experimental evaluation on a real-world test case demonstrates the effectiveness of the approach.

Virtual Measurement of the Backlash Gap in Industrial Manipulators / Giovannitti, Eliana; Squillero, Giovanni; Alberto, Tonda. - ELETTRONICO. - 1092:(2020), pp. 189-200. ((Intervento presentato al convegno SEMCCO 2019 & FANCCO 2019 tenutosi a Maribor, Slovenia,EU nel 10 – 12 July 2019 [10.1007/978-3-030-37838-7_17].

Virtual Measurement of the Backlash Gap in Industrial Manipulators

GIOVANNITTI, ELIANA;Giovanni Squillero;
2020

Abstract

Industrial manipulators are robots used to replace humans in dangerous or repetitive tasks. Also, these devices are often used for applications where high precision and accuracy is required. The increase of backlash caused by wear, that is, the increase of the amount by which teeth space exceeds the thickness of gear teeth, might be a significant problem, that could lead to impaired performances or even abrupt failures. However, maintenance is difficult to schedule because backlash cannot be directly measured and its effects only appear in closed loops. This paper proposes a novel technique, based on an Evolutionary Algorithm, to estimate the increase of backlash in a robot joint transmission. The peculiarity of this method is that it only requires measurements from the motor encoder. Experimental evaluation on a real-world test case demonstrates the effectiveness of the approach.
File in questo prodotto:
File Dimensione Formato  
Virtual_Measurement_of_the_Backlash_Gap.pdf

embargo fino al 03/01/2021

Descrizione: articolo principale
Tipologia: 2. Post-print / Author's Accepted Manuscript
Licenza: PUBBLICO - Tutti i diritti riservati
Dimensione 804.87 kB
Formato Adobe PDF
804.87 kB Adobe PDF Visualizza/Apri
2019 semcco.pdf

non disponibili

Tipologia: 2a Post-print versione editoriale / Version of Record
Licenza: Non Pubblico - Accesso privato/ristretto
Dimensione 1.63 MB
Formato Adobe PDF
1.63 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11583/2748934