Abstract
This chapter addresses an effective technical solution for integrating and controlling a heavy robot of which all joints are driven by hydraulic actuators. The robot is designed to support workers for handling automatically hot and heavy workpieces among machines and components of a forging press shop floor. The controller of the robot is designed and integrated effectively since it is constructed mainly based on industrial PLC units, which also plays a role as a central control unit for inter-connecting all the components of the entire forging station. The control algorithm for the system integration is validated through functional tests and experiments that are carried out with a real forging shop floor at The Mechanical Company Ltd. No. 83, Yen Bai Province, Vietnam.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
My, C.A., et al.: Novel robot arm design and implementation for hot forging press automation. Int. J. Prod. Res. 57(14), 4579–4593.
My, C.A., Parnichkun, M.: Kinematics performance and structural analysis for the design of a serial-parallel manipulator transferring a billet for a hot extrusion forging process. Int. J. Adv. Robot. Syst. 12(12), 186 (2015)
My, C.A., et al.: Inverse kinematic control algorithm for a welding robot-positioner system to trace a 3D complex curve. In: 2019 International Conference on Advanced Technologies for Communications (ATC), pp. 319–323. IEEE (2019)
My, C.A., et al.: Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target. Math. Comput. Simul. 170, 300–315 (2020)
My, C.A.: Integration of CAM systems into multi-axes computerized numerical control machines. In: 2010 Second International Conference on Knowledge and Systems Engineering, pp. 119–124. IEEE (2010)
My, C.A., et al.: Mechanical design and dynamics modelling of RoPC robot. In: Proceedings of International Symposium on Robotics and Mechatronics, Hanoi, Vietnam, pp. 92–96 (2009)
My, C.A.: Inverse kinematics of a serial-parallel robot used in hot forging process. Vietnam J. Mech. 38(2), 81–88 (2016)
My, C.A., et al.: Inverse dynamic of a N-links manipulator mounted on a wheeled mobile robot. In: 2013 International Conference on Control, Automation and Information Sciences (ICCAIS), pp. 164–170. IEEE (2013)
My, C.A., Trung, V.T.: Design analysis for a special serial-parallel manipulator transferring billet for hot extrusion forging process. Vietnam J. Sci. Technol. 54(4), 545 (2016)
My, C.A., Hoan, V.M.: Kinematic and dynamic analysis of a serial manipulator with local closed loop mechanisms. Vietnam J. Mech. 41(2), 141–155 (2019)
Garcia, E., et al.: The evolution of robotics research. IEEE Robot. Autom. Mag. 14(1), 90–103 (2007)
Khang, N.V., My,C.A.: Fundamentals of Industrial Robot. Education Publisher, Ha Noi, Viet Nam (2010)
Su, J., et al.: Grasping objects: the relationship between the cage and the form-closure grasp. IEEE Robot. Autom. Mag. 24(3), 84–96 (2017).
Olsson, T., et al.: Cost-efficient drilling using industrial robots with high-bandwidth force feedback. Robot. Comput.-Integr. Manuf. 26(1), 24–38 (2010)
Michalos, G., et al.: ROBO-PARTNER: seamless human-robot cooperation for intelligent, flexible and safe operations in the assembly factories of the future. Procedia CIRP 23, 71–76 (2014)
Cherubini, A., et al.: Collaborative manufacturing with physical human–robot interaction. Robot. Comput.-Integr. Manuf. 40, 1–13 (2016)
Denkena, B., Lepper, T.: Enabling an industrial robot for metal cutting operations. Procedia CIRP 35, 79–84 (2015)
Tor, S.B., et al.: Knowledge-based functional design of industrial robots. Int. J. Prod. Res. 46(16), 4501–4519 (2008)
Chang, P.H., Park, H.-S.: Development of a robotic arm for handicapped people: a task-oriented design approach. Autnom. Robots 15(1), 81–92 (2003)
Borgstrom, P.H., et al.: Design and implementation of NIMS3D, a 3-D cabled robot for actuated sensing applications. IEEE Trans. Robot. 25(2), 325–339 (2009)
Fiorini, P., Botturi, D.: Introducing service robotics to the pharmaceutical industry. Intell. Serv. Robot. 1(4), 267–280 (2008)
Rea, P., Ottaviano, E.: Design and development of an Inspection Robotic System for indoor applications. Robot. Comput.-Integr. Manuf. 49, 143–151 (2018)
wei, Z., et al.: Design and implementation of a leg–wheel robot: transleg. J. Mech. Robot. 9(5) (2017)
Kim, D.-J., et al.: System design and implementation of UCF-MANUS—An intelligent assistive robotic manipulator. IEEE/ASME Trans. Mechatron. 19(1), 225–237 (2012)
Pa, P.S., Wu, C.M.: Design of a hexapod robot with a servo control and a man-machine interface. Robot. Comput.-Integr. Manuf. 28(3), 351–358 (2012)
Jin, Y., Chen, I.-M., Yang, G.: Kinematic design of a family of 6-DOF partially decoupled parallel manipulators. Mech. Mach. Theory 44(5), 912–922 (2009)
Yan, C., Gao, F., Zhang, Y.: Kinematic modeling of a serial–parallel forging manipulator with application to heavy-duty manipulations#. Mech. Des. Struct. Mach. 38(1), 105–129 (2010)
Chen, G., et al.: Modular calculation of the Jacobian matrix and Its application to the performance analyses of a forging robot. Adv. Robot. 23(10), 1261–1279 (2009)
Faguo, Y.U., et al.: Structure synthesis for forging manipulators. In: 2008 7th World Congress on Intelligent Control and Automation, pp. 400–403. IEEE (2008)
Ding, H., et al.: Structure synthesis of 6-DOF forging manipulators. Mech. Mach. Theory 111, 135–151 (2017)
Acknowledgements
This book chapter was supported by British Council and Newton Fund Grant Agreement Research Environment Links with Project Code: 528085858.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Anh-My, C. (2021). Effective Solution to Integrate and Control a Heavy Robot Driven by Hydraulic Actuators. In: Balas, V.E., Solanki, V.K., Kumar, R. (eds) Further Advances in Internet of Things in Biomedical and Cyber Physical Systems. Intelligent Systems Reference Library, vol 193. Springer, Cham. https://doi.org/10.1007/978-3-030-57835-0_24
Download citation
DOI: https://doi.org/10.1007/978-3-030-57835-0_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-57834-3
Online ISBN: 978-3-030-57835-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)