Structural design and analysis of a new semi-direct drive robot arm. Theory and experiment

2002 ◽  
Author(s):  
J. Roy ◽  
R. Goldberg ◽  
L.L. Whitcomb
Keyword(s):  
Structural Design ◽  
Robot Arm ◽  
Direct Drive ◽  
Theory And Experiment

Structural Design of the Robot Arm for Massage Based on the Chain Drive

2012 ◽  
Vol 605-607 ◽  
pp. 1547-1551
Author(s):  
Zhan Li Wang ◽  
Qian Liang ◽  
Bang Cheng Zhang
Keyword(s):  
Structural Design ◽  
Elbow Joint ◽  
Structure Design ◽  
Robot Arm ◽  
Chain Drive ◽  
Element Analysis ◽  
Overall Design ◽  
Transfer Mode ◽  
Design Requirements ◽  
Robot Technology

With the development of robot technology, massage robot has attracted fully attention, and the study about robot arm has been a growing interest in the area of massage robot. This article has put forward a new massage robot arm, which uses the chain as the main transfer mode by the requirements of the overall design massage of the robot arm. The design of big arm, shoulder joint, forearm, elbow joint and wrist are introduced. Based on the design requirements, we made some improvements with sprockets, ensuring transmission conditions and meeting the massage requirements. And finite element analysis for the designed arm, results show that the structure design can meet the requirements.

scholarly journals Structural Design and Material Cutting Using a Laser End Effector on a Robot Arm

TEM Journal ◽  
2020 ◽  
pp. 1455-1459
Author(s):  
Martin Pollák ◽  
Jozef Dobránsky
Keyword(s):  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Control Program ◽  
Soft Materials ◽  
Electrical Circuit ◽  
Simulation Software ◽  
Robot Arm ◽  
Software Environment ◽  
End Effector

The paper deals with the structural design of a laser end effector for the arm of the ABB IRB 140 robot which makes products by the laser cutting technology involving soft materials, such as e.g. paper, wood and others. A laser with a power of 1 W was chosen to carry out the cutting. An electrical circuit with a power supply was created for the selected laser; a control method and a structural design of the jig to be attached to the flange of the robot arm were proposed. Subsequently, the robot control program was connected to the control via a computer and the RoboDK simulation software. The paper describes in more detail the creation of the robot control program and the simulation designed in the simulation software environment, as well as the programming of laser control scripts in Python and in the programming environment of Arduino microcontroller.

Quasi-Minimum Time Trajectory Planning and Experiments for Prototype Direct-Drive Robot Arm Driven by Stepping Motors Using GA

2010 ◽  
Vol 4 (2) ◽  
pp. 161-168
Author(s):  
Hiroyuki Kojima ◽  
◽  
Kengo Motomura ◽  
Yoshifumi Kuwano ◽  
Keiichi Abe ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Trajectory Planning ◽  
Fitness Function ◽  
Angular Acceleration ◽  
Minimum Time ◽  
Robot Arm ◽  
Direct Drive ◽  
Semiconductor Wafer ◽  
Pull Out ◽  
Straight Line

In this paper, a quasi-minimum time trajectory planning of three-link direct-drive robot arm driven with stepping motors using a genetic algorithm (GA) was proposed. The prototype direct-drive robot arm was newly manufactured in this study. The trajectory for a semiconductor wafer transfer work consists of three trajectory portions: a straight line, a curved line, and a straight line. In the trajectory planning, three trajectory portions are expressed by polynomials of time. Using the boundary and continuous conditions concerning joint angle, joint angular velocity and joint angular acceleration, the whole trajectory is described by a chromosome consisting of five genes. Then, the fitness function of the genetic algorithm for the quasi-minimum time control was defined, under the constraint condition that the stepping motor torques should not exceed pull-out torques. Furthermore, the numerical calculations and experiments have been carried out, and it is confirmed that the quasi-minimum time trajectory planning can be executed successfully, and the trajectory tracking control can be well performed.

Evaluation of Real-Time Motion Controllers on a Direct-Drive Robot Arm *

1998 ◽  
Vol 31 (4) ◽  
pp. 119-124
Author(s):  
Rafael Kelly ◽  
Fernando Reyes
Keyword(s):  
Real Time ◽  
Robot Arm ◽  
Direct Drive ◽  
Time Motion

Comparative experiments with a multiple model based adaptive controller for a SCARA type direct drive manipulator

Robotica ◽  
2005 ◽  
Vol 23 (6) ◽  
pp. 721-729 ◽  
Author(s):  
M. Kemal Ciliz ◽  
M. Ömer Tuncay
Keyword(s):  
Adaptive Control ◽  
Nonlinear Effects ◽  
Adaptive Controller ◽  
Control Algorithms ◽  
Robot Arm ◽  
Multiple Model ◽  
Direct Drive ◽  
Test Bed ◽  
Efficient Test ◽  
Control Scheme

In this paper, different adaptive control algorithms will be experimentally tested on a two axis SCARA type direct drive robot arm, and the performance of these algorithms will be compared. Being a direct drive system, the nonlinear effects, arising from the dynamics of the manipulator under high velocities, are directly reflected in the control of the manipulator. This makes the manipulator a more efficient test bed for testing the efficiency of the proposed adaptive schemes. In the experiments, we used fast trajectories rather than slow ones to observe how the proposed controllers compensate the dynamic nonlinear effects of manipulator dynamics. We will test some known adaptive control algorithms given in the literature along with our proposed adaptive control scheme which makes use of multiple models.

scholarly journals Real-time process manager and its application in robotics

2003 ◽  
Vol 1 (02) ◽  
Author(s):  
U. Ceseña ◽  
R. Muraoka
Keyword(s):  
Control System ◽  
User Interface ◽  
Real Time ◽  
Computer Control ◽  
Graphic User Interface ◽  
Time Process ◽  
Robot Arm ◽  
Direct Drive ◽  
Computer Control System ◽  
Real Time Applications

The Real Time Process Manager consists of a graphic user interface that enables the user to generate programs for real time applications based on programs written in standard C, assigns priority and execution period to each program, and also interchanges data among them. The functionality of this Process Manager was tested in computer control system of direct drive robot arm of CICESE research center.

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