New Performance Indices and Workspace Analysis of Reconfigurable Hyper-Redundant Robotic Arms

2004 ◽  
Vol 23 (6) ◽  
pp. 643-659 ◽  
Author(s):  
Mircea Badescu ◽  
Constantinos Mavroidis
Keyword(s):  
Performance Indices ◽  
Robotic Arms ◽  
Workspace Analysis

Workspace Analysis of Reconfigurable Robotic Arms Using Parallel Platforms as Modules

2003 ◽  
Author(s):  
Mircea Badescu ◽  
Constantinos Mavroidis
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Performance Indices ◽  
Robotic Arms ◽  
Workspace Analysis ◽  
Lower Mobility ◽  
Parallel Platform

In this paper the workspace analysis of reconfigurable hyper-redundant robotic arms using as modules lower mobility parallel platforms is presented. The modules of the reconfigurable robotic arm are the 3-legged translational UPU and orientational UPS parallel platforms. Each arm is composed of a large number of these modules having a very large number of degrees of freedom. New performance indices to characterize the workspace of such arms are defined and used to analyze their different configurations. Results of this analysis are presented in table and graphic forms and the corresponding best designs are identified. All possible arm assembly configurations with two, three, and four parallel platform modules and one configurations with five parallel platform modules have been taken into consideration, analyzed and compared.

Optimization of kinematic redundancy and workspace analysis of a dual-arm cam-lock robot

Robotica ◽  
2014 ◽  
Vol 34 (1) ◽  
pp. 23-42 ◽  
Author(s):  
Behnoush Rezaeian Jouybari ◽  
Kambiz Ghaemi Osgouie ◽  
Ali Meghdari
Keyword(s):  
Degrees Of Freedom ◽  
Shooting Method ◽  
Minimum Principle ◽  
Final Decision ◽  
Structural Stiffness ◽  
Task Space ◽  
Kinematic Redundancy ◽  
Performance Indices ◽  
Workspace Analysis ◽  
Dual Arm

SUMMARYIn this paper, the problem of obtaining the optimal trajectory of a Dual-Arm Cam-Lock (DACL) robot is addressed. The DACL robot is a reconfigurable manipulator consisting of two cooperative arms, which may act separately. These may also be cam-locked in each other in some links and thus lose some degrees of freedom while gaining higher structural stiffness. This will also decrease their workspace volume. It is aimed to obtain the optimal configuration of the robot and the optimal joint trajectories to minimize the consumed energy for following a specific task space path. The Pontryagin's Minimum Principle is utilized with a shooting method to resolve kinematic redundancy. Numerical examples are investigated to show optimal trajectories in different cam-locked configurations, and the final decision is made based on a selection table of the computed performance indices.

Wrench capabilities of planar parallel manipulators. Part II: Redundancy and wrench workspace analysis

Robotica ◽  
2008 ◽  
Vol 26 (6) ◽  
pp. 803-815 ◽  
Author(s):  
Flavio Firmani ◽  
Alp Zibil ◽  
Scott B. Nokleby ◽  
Ron P. Podhorodeski
Keyword(s):  
Parallel Manipulators ◽  
Mobile Platform ◽  
Operational Cost ◽  
Performance Indices ◽  
Workspace Analysis ◽  
Redundantly Actuated ◽  
Comparison Of The Results ◽  
Actuated Joints ◽  
Planar Parallel Manipulators

SUMMARYThis part of the paper investigates the wrench capabilities of redundantly actuated planar parallel manipulators (PPMs). The wrench capabilities of PPMs are determined by mapping a hypercube from the torque space into a polytope in the wrench space. For redundant PPMs, one actuator output capability constrains the wrench space with a smaller polytope that is contained inside the overall polytope. Performance indices are derived from six study cases. These indices are employed to analyze the wrench workspace for constant orientation of the mobile platform of the non-redundant 3-RRR PPM, and actuation redundant 4-RRR and 3-RRR PPMs, where the underline indicates the actuated joints. A comparison of the results shows that both of the redundantly-actuated PPMs give better wrench capabilities than the non-redundant PPM. However, it is shown that scaled for the operational cost (wrench capabilities divided by total actuation output) the non-redundant 3-RRR PPM provides the highest maximum reachable force, the 3-RRR PPM produces the highest isotropic force, and the 4-RRR yields the highest reachable moment.

Visual Simulation of Aristo Robot With Workspace Analysis

2008 ◽  
Author(s):  
Upendra K. Parghi ◽  
H. K. Raval
Keyword(s):  
Three Dimensional ◽  
Robotic Arm ◽  
Visual Simulation ◽  
Robotic Arms ◽  
Workspace Analysis ◽  
Payload Capacity ◽  
Pick And Place ◽  
Different Types ◽  
Commercial Applications ◽  
Industrial Needs

Robotics is a technology that is utilized tremendously in Industrial and Commercial Applications. Different types of robotic arms are used to fulfill the industrial needs. The aim of the work presented in this paper is to give a visual simulation of the robotic arm (Aristo Robot – 6 DOF) which can be used with offline robotic programming thereby introducing the language to the user and creating a training package for the user. This software also reduces the time as programming can be done offline. The pick and place robotic arm comprises of 6 links, which each of them has one degree of freedom (DOF) with a payload capacity of 3 kg is used for visual simulation. The main objective is to design a three dimensional graphic of a robotic arm and its movement animation that imitates the movement of actual robotic arm. The graphic design is then used as a foundation to find its limits of reach in the surrounding. Also the analysis of workspace is done to understand its workspace volume properly.

Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains

2013 ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong
Keyword(s):  
Parallel Manipulator ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Parallel Robots ◽  
Performance Indices ◽  
Workspace Analysis ◽  
Static Calculation

Development of a new parallel manipulator can be very time consuming due to the traditional method of producing kinematic, dynamic and static calculation models and then evaluating them to determine aspects of the manipulator’s performance indices such as the mechanism’s workspace and singularity analysis. By extending the virtual chain approach to the type synthesis of parallel manipulators, this paper proposes a virtual-chain approach to the workspace analysis of parallel manipulators. This method is illustrated by producing and evaluating the workspace of several parallel robots including the well known DELTA robot by utilising the three-dimensional CAD software SolidWorks to produce a virtual prototype of a manipulator with an embedded virtual chain. The virtual chain represents the motion pattern of a manipulator’s end-effector and is very useful in the production of a graphical representation of the workspace of the manipulator. Using this approach, the link interferences and transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

Sign in / Sign up

Export Citation Format

Share Document