Speaker
Shanshuang Shi
(Lab of Intelligent Machines)
Description
EAST Articulated Maintenance Arm (EAMA) is a highly redundant serial robot system with 11 degree of freedoms (DOFs) in total. It will allow remote inspection and simple repair of plasma facing components (PFCs) in EAST vacuum vessel (VV) without breaking down the ultra-high vacuum condition during physical experiments. Due to its long-reach mechanisms with a weight more than 100 kg, the gravity effect will cause huge flexible deformation, which is unacceptable for running inside a narrow and complex-shaped space as EAST VV. To solve this problem, a mathematic model for the static system stiffness of flexible robot segments has been built in this paper by utilizing the Matrix Structural Analysis (MSA) method, in which case, deformation prediction in arbitrary positions and postures can be obtained by solving the stiffness matrix equations. Furthermore, an error compensation strategy based on the deformation prediction results has been developed to improve the motion accuracy of whole robot systems.
Keywords: EAMA robot; Static stiffness modeling; Deformation prediction; Error compensation
Co-authors
Bingyan Mao
(State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China)
Eric Villedieu
(IRFM, CEA, F-13108 Saint-Paul-Lez-Durance, France)
Heikki Handroos
(Lab of Intelligent Machines, Lappeenranta University of Technology, Lappeenranta, Finland)
Hongtao Pan
(Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031, China)
Huapeng Wu
(Lab of Intelligent Machines, Lappeenranta University of Technology, Lappeenranta, Finland)
Ming Li
(Lab of Intelligent Machines, Lappeenranta University of Technology, Lappeenranta, Finland)
Shanshuang Shi
(Lab of Intelligent Machines, Lappeenranta University of Technology, Lappeenranta, Finland;Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031, China)
Vincent Bruno
(IRFM, CEA, F-13108 Saint-Paul-Lez-Durance, France)
Yong Cheng
(Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031, China)
Yuntao Song
(Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031, China)
