Special Issue "Robotic Machine Tools"

A special issue of Machines (ISSN 2075-1702).

Deadline for manuscript submissions: closed (31 December 2016).

Special Issue Editor

Prof. Dr. Dan Zhang
E-Mail Website1 Website2
Guest Editor
Department of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada
Tel. 416-736-2100 ext. 44049; Fax: +1 905 721 3370
Interests: robotics and mechatronics; high performance parallel robotic machine development; sustainable/green manufacturing systems; micro/nano manipulation and MEMS devices (sensors), micro mobile robots and control of multi-robot cooperation, intelligent servo control system for the MEMS based high-performance micro-robot; web-based remote manipulation; rehabilitation robot and rescue robot
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Special Issue Information

Dear Colleagues,

High performance parallel robotic machine tools’ development is a vital factor for advanced manufacturing industries. Improving the performance of the machine tools’ manusfacturing system will be a prevalent topic for researchers and engineers. This Special Issue aims to bring researchers together to present recent advances and technologies in the field of parallel robotic machine tools, and robotics and mechatronics for manufacturing and automation. Topics include, but are not limited to:

  • New modelling and control methods for robotic machine tools
  • Green manufacturing system development
  • Kinematics and dynamics of new mechanisms
  • Parallel robotic machine tools’ design and development
  • Sustainable manufacturing system
  • Robotics

Prof. Dr. Dan Zhang
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All papers will be peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access quarterly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1000 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

 

Keywords

  • Modelling
  • Kinematics
  • Dynamics
  • Control

Published Papers (8 papers)

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Research

Open AccessArticle
Direct Uncertainty Minimization Framework for System Performance Improvement in Model Reference Adaptive Control
Machines 2017, 5(1), 9; https://doi.org/10.3390/machines5010009 - 08 Mar 2017
Cited by 3
Abstract
Inthispaper, adirectuncertaintyminimizationframeworkisdevelopedanddemonstrated for model reference adaptive control laws. The proposed framework consists of a novel architecture involvingmodificationtermsintheadaptivecontrollawandtheupdatelaw. Inparticular,theseterms areconstructedthroughagradientminimizationprocedureinordertoachieveimprovedclosed-loop system performance with adaptive control laws. The proposed framework is first developed for adaptive control laws with linear reference models and then generalized to [...] Read more.
Inthispaper, adirectuncertaintyminimizationframeworkisdevelopedanddemonstrated for model reference adaptive control laws. The proposed framework consists of a novel architecture involvingmodificationtermsintheadaptivecontrollawandtheupdatelaw. Inparticular,theseterms areconstructedthroughagradientminimizationprocedureinordertoachieveimprovedclosed-loop system performance with adaptive control laws. The proposed framework is first developed for adaptive control laws with linear reference models and then generalized to adaptive control laws with nonlinear reference models. Two illustrative numerical examples are included to demonstrate the efficacy of the proposed framework. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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Open AccessArticle
Life Cycle Analysis of Double-Arm Type Robotic Tools for LCD Panel Handling
Machines 2017, 5(1), 8; https://doi.org/10.3390/machines5010008 - 04 Mar 2017
Cited by 1
Abstract
This study includes a life cycle assessment of double-arm type robotic tools made with three different materials. The robotic arms are used for Liquid Crystal Display (LCD) panel handling. The environmental impacts generated during all the life stages of the robots have been [...] Read more.
This study includes a life cycle assessment of double-arm type robotic tools made with three different materials. The robotic arms are used for Liquid Crystal Display (LCD) panel handling. The environmental impacts generated during all the life stages of the robots have been investigated. The study shows that composite materials have less environmental impact compared with metallic materials. It is also found that the most significant impact category generated by the robotic tools is carcinogen, while the use stage of the robotic tool’s life cycle has the greatest environmental impact. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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Open AccessArticle
A Method for Design of Modular Reconfigurable Machine Tools
Machines 2017, 5(1), 5; https://doi.org/10.3390/machines5010005 - 04 Feb 2017
Cited by 7
Abstract
Presented in this paper is a method for the design of modular reconfigurable machine tools (MRMTs). An MRMT is capable of using a minimal number of modules through reconfiguration to perform the required machining tasks for a family of parts. The proposed method [...] Read more.
Presented in this paper is a method for the design of modular reconfigurable machine tools (MRMTs). An MRMT is capable of using a minimal number of modules through reconfiguration to perform the required machining tasks for a family of parts. The proposed method consists of three steps: module identification, module determination, and layout synthesis. In the first step, the module components are collected from a family of general-purpose machines to establish a module library. In the second step, for a given family of parts to be machined, a set of needed modules are selected from the module library to construct a desired reconfigurable machine tool. In the third step, a final machine layout is decided though evaluation by considering a number of performance indices. Based on this method, a software package has been developed that can design an MRMT for a given part family. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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Open AccessArticle
Automatic Motion Generation for Robotic Milling Optimizing Stiffness with Sample-Based Planning
Machines 2017, 5(1), 3; https://doi.org/10.3390/machines5010003 - 18 Jan 2017
Cited by 3
Abstract
Optimal and intuitive robotic machining is still a challenge. One of the main reasons for this is the lack of robot stiffness, which is also dependent on the robot positioning in the Cartesian space. To make up for this deficiency and with the [...] Read more.
Optimal and intuitive robotic machining is still a challenge. One of the main reasons for this is the lack of robot stiffness, which is also dependent on the robot positioning in the Cartesian space. To make up for this deficiency and with the aim of increasing robot machining accuracy, this contribution describes a solution approach for optimizing the stiffness over a desired milling path using the free degree of freedom of the machining process. The optimal motion is computed based on the semantic and mathematical interpretation of the manufacturing process modeled on its components: product, process and resource; and by configuring automatically a sample-based motion problem and the transition-based rapid-random tree algorithm for computing an optimal motion. The approach is simulated on a CAM software for a machining path revealing its functionality and outlining future potentials for the optimal motion generation for robotic machining processes. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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Open AccessFeature PaperArticle
Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators
Machines 2016, 4(4), 24; https://doi.org/10.3390/machines4040024 - 16 Dec 2016
Abstract
The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators [...] Read more.
The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators are determined through different approaches; secondly, objective functions modelling are presented, and the associated optimization issues and the geometric parameters’ effect on the objective functions for the robotic mechanisms are illustrated and analyzed in detail. Through employing several multi-objective optimization approaches, we manifest an overall process and approach for multi-objective optimization of robotic systems. The correlation among different stiffness models is finally presented. The results indicate that the kinetostatic compliance model is the closest one to the traditional stiffness model. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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Open AccessArticle
Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms
Machines 2016, 4(4), 22; https://doi.org/10.3390/machines4040022 - 09 Nov 2016
Cited by 2
Abstract
In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints. Furthermore, the analysis of velocity and acceleration [...] Read more.
In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints. Furthermore, the analysis of velocity and acceleration are solved by means of the screw theory. For completeness, the inverse dynamics are also presented and solved by means of an interesting combination of the screw theory and the virtual work principle. Finally, a numerical example is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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Open AccessArticle
Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms
Machines 2016, 4(4), 21; https://doi.org/10.3390/machines4040021 - 04 Nov 2016
Cited by 2
Abstract
Robotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps [...] Read more.
Robotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps different payload masses as most applications require, the output of joint motion will vary under different payload masses, which will decrease the end-effector positioning accuracy of the robotic arm system. Based on the model reference adaptive control technique, the payload variation effect can be solved, therefore improving the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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Open AccessArticle
Self-Sensing Electromagnets for Robotic Tooling Systems: Combining Sensor and Actuator
Machines 2016, 4(3), 16; https://doi.org/10.3390/machines4030016 - 10 Aug 2016
Cited by 3
Abstract
A low-cost method, which integrates distance sensing functionality into a switched electromagnet by using a hybrid switching mode and current ripple measurements, is proposed. The electromagnet is controlled by a micro-controller via a MOSFET H bridge, utilizing a comparator-based current control. Additionally, a [...] Read more.
A low-cost method, which integrates distance sensing functionality into a switched electromagnet by using a hybrid switching mode and current ripple measurements, is proposed. The electromagnet is controlled by a micro-controller via a MOSFET H bridge, utilizing a comparator-based current control. Additionally, a method for calculating the inductance of the electromagnet and approximating the magnetic contact between the electromagnet and its target is also presented. The resulting tool is attached to an industrial robot, and the system performance using this setup is evaluated. Distance sensing in the range of 0 mm to 5.2 mm is demonstrated. It is also shown that the relation between magnetic contact, coil current and calculated inductance can be reduced to a predictive look-up table, enabling the quality of the magnetic contact to be estimated using minimal computational effort. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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