Design of a Robotic Arm with Gripper & End Effector for Spot Welding

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.

Download Full-text

DESIGN OF A 3D-PRINTED THREE-CLAW ROBOTIC GRIPPER END-EFFECTOR

ASEAN Engineering Journal ◽

10.11113/aej.v11.17865 ◽

2021 ◽

Vol 11 (4) ◽

pp. 70-79

Author(s):

Dino Dominic Forte Ligutan ◽

Argel Alejandro Bandala ◽

Jason Limon Española ◽

Richard Josiah Calayag Tan Ai ◽

Ryan Rhay Ponce Vicerra ◽

...

Keyword(s):

3D Printing ◽

Polylactic Acid ◽

Grip Force ◽

Thermoplastic Polyurethane ◽

Robotic Arm ◽

End Effector ◽

Design Considerations ◽

3D Printed ◽

Materials Used ◽

Metal Work

The development of a novel 3D-printed three-claw robotic gripper shall be described in this paper with the goal of incorporating various design considerations. Such considerations include the grip reliability and stability, grip force maximization, wide object grasping capability. Modularization of its components is another consideration that allows its parts to be easily machined and reusable. The design was realized by 3D printing using a combination of tough polylactic acid (PLA) material and thermoplastic polyurethane (TPU) material. In practice, additional tolerances were also considered for 3D printing of materials to compensate for possible expansion or shrinkage of the materials used to achieve the required functionality. The aim of the study is to explore the design and eventually deploy the three-claw robotic gripper to an actual robotic arm once its metal work fabrication is finished.

Download Full-text

Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.108-111.1439 ◽

2010 ◽

Vol 108-111 ◽

pp. 1439-1445

Author(s):

Shahed Shojaeipour ◽

Sallehuddin Mohamed Haris ◽

Ehsan Eftekhari ◽

Ali Shojaeipour ◽

Ronak Daghigh

Keyword(s):

Image Processing ◽

A Priori ◽

Trajectory Generation ◽

Robotic Arm ◽

Generation System ◽

End Effector ◽

Quadtree Decomposition ◽

Practical Applications ◽

Robot Trajectory ◽

Curve Smoothing

In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

Download Full-text

Shape Optimum Design of Robotic Manipulators With Static Performance Criteria

13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems ◽

10.1115/detc1987-0061 ◽

1987 ◽

Author(s):

D. A. Saravanos ◽

J. S. Lamancusa ◽

H. J. Sommer

Keyword(s):

Finite Element ◽

Optimum Design ◽

Robotic Manipulators ◽

Performance Criterion ◽

Performance Criteria ◽

Robotic Arm ◽

Mass Ratio ◽

End Effector ◽

Vibrational Response ◽

Static Performance

Abstract The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

Download Full-text

Inverse Kinematics Modelling and Simulation for Upper Case Writing Robot Control Using ANFIS

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.836.37 ◽

2016 ◽

Vol 836 ◽

pp. 37-41 ◽

Cited By ~ 2

Author(s):

Adlina Taufik Syamlan ◽

Bambang Pramujati ◽

Hendro Nurhadi

Keyword(s):

Image Processing ◽

Character Recognition ◽

Inverse Kinematics ◽

Robot Control ◽

Industrial Revolution ◽

Training Data ◽

Robotic Arm ◽

End Effector ◽

Precision And Accuracy ◽

Case Writing

Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

Download Full-text

Process Development of Integral Fasteners Using Friction Stir Spot Welding with “C-Frame” End Effector on an Aircraft Cabin Door Made from AA6061-T6 and AA2024-T3

Friction Stir Welding and Processing VII ◽

10.1002/9781118658345.ch22 ◽

2013 ◽

pp. 215-224

Author(s):

Alan Bruce Handyside ◽

Vishwanath Iyer ◽

Ron Preston ◽

Enkhsaikhan Boldsaikhan ◽

Mike McCoy

Keyword(s):

Spot Welding ◽

Process Development ◽

Friction Stir Spot Welding ◽

End Effector ◽

Friction Stir ◽

Aircraft Cabin

Download Full-text

Online pose correction of an industrial robot using an optical coordinate measure machine system

International Journal of Advanced Robotic Systems ◽

10.1177/1729881418787915 ◽

2018 ◽

Vol 15 (4) ◽

pp. 172988141878791 ◽

Cited By ~ 10

Author(s):

Sepehr Gharaaty ◽

Tingting Shu ◽

Ahmed Joubair ◽

Wen Fang Xie ◽

Ilian A Bonev

Keyword(s):

Root Mean Square ◽

Spot Welding ◽

Industrial Robot ◽

Industrial Robots ◽

Mean Square ◽

End Effector ◽

Proportional Integral ◽

Accuracy Requirement ◽

Robot Controller ◽

Correction Scheme

In this article, a dynamic pose correction scheme is proposed to enhance the pose accuracy of industrial robots. The dynamic pose correction scheme uses the dynamic pose measurements as feedback to accurately guide the robot end-effector to the desired pose. The pose is measured online with an optical coordinate measure machine, that is, C-Track 780 from Creaform. A root mean square method is proposed to filter the noise from the pose measurements. The dynamic pose correction scheme adopts proportional-integral-derivaitve controller and generates commands to the FANUC robot controller. The developed dynamic pose correction scheme has been tested on two industrial robots, FANUC LR Mate 200iC and FANUC M20iA. The experimental results on both robots demonstrate that the robots can reach the desired pose with an accuracy of ±0.050 mm for position and ±0.050° for orientation. As a result, the developed pose correction can make the industrial robots meet higher accuracy requirement in the applications such as riveting, drilling, and spot welding.

Download Full-text

7-DOF Cable-Driven Humanoid Robotic Arm

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2011-48276 ◽

2011 ◽

Author(s):

Jun Ding ◽

Robert L. Williams

Keyword(s):

Linear Programming ◽

Robotic Arm ◽

Kinematics And Dynamics ◽

Dynamics Analysis ◽

Kinematics Analysis ◽

End Effector ◽

Motion Range ◽

Potential Benefits ◽

Redundant Mechanism ◽

Joint Limits

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

Download Full-text