scholarly journals Trajectory Optimization of Industrial Robot Arms Using a Newly Elaborated “Whip-Lashing” Method

2020 ◽  
Vol 10 (23) ◽  
pp. 8666
Author(s):  
Rabab Benotsmane ◽  
László Dudás ◽  
György Kovács
Keyword(s):  
Trajectory Optimization ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Robot Arm ◽  
Manufacturing Companies ◽  
Time Saving ◽  
Cycle Times ◽  
Robot Arms

The application of the Industry 4.0′s elements—e.g., industrial robots—has a key role in the efficiency improvement of manufacturing companies. In order to reduce cycle times and increase productivity, the trajectory optimization of robot arms is essential. The purpose of the study is the elaboration of a new “whip-lashing” method, which, based on the motion of a robot arm, is similar to the motion of a whip. It results in achieving the optimized trajectory of the robot arms in order to increase velocity of the robot arm’s parts, thereby minimizing motion cycle times and to utilize the torque of the joints more effectively. The efficiency of the method was confirmed by a case study, which is relating to the trajectory planning of a five-degree-of-freedom RV-2AJ manipulator arm using SolidWorks and MATLAB software applications. The robot was modelled and two trajectories were created: the original path and path investigate the effects of using the whip-lashing induced robot motion. The application of the method’s algorithm resulted in a cycle time saving of 33% compared to the original path of RV-2AJ robot arm. The main added value of the study is the elaboration and implementation of the newly elaborated “whip-lashing” method which results in minimization of torque consumed; furthermore, there was a reduction of cycle times of manipulator arms’ motion, thus increasing the productivity significantly. The efficiency of the new “whip-lashing” method was confirmed by a simulation case study.

scholarly journals Evaluating the use of human aware navigation in industrial robot arms

2021 ◽  
Vol 12 (1) ◽  
pp. 379-391
Author(s):  
Matthew Story ◽  
Cyril Jaksic ◽  
Sarah R. Fletcher ◽  
Philip Webb ◽  
Gilbert Tang ◽  
...  
Keyword(s):  
Science Fiction ◽  
Mobile Robotics ◽  
Industrial Robot ◽  
Lessons Learned ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Robot Arm ◽  
Robot Arms ◽  
Safety Guidelines ◽  
Current Standards

Abstract Although the principles followed by modern standards for interaction between humans and robots follow the First Law of Robotics popularized in science fiction in the 1960s, the current standards regulating the interaction between humans and robots emphasize the importance of physical safety. However, they are less developed in another key dimension: psychological safety. As sales of industrial robots have been increasing over recent years, so has the frequency of human–robot interaction (HRI). The present article looks at the current safety guidelines for HRI in an industrial setting and assesses their suitability. This article then presents a means to improve current standards utilizing lessons learned from studies into human aware navigation (HAN), which has seen increasing use in mobile robotics. This article highlights limitations in current research, where the relationships established in mobile robotics have not been carried over to industrial robot arms. To understand this, it is necessary to focus less on how a robot arm avoids humans and more on how humans react when a robot is within the same space. Currently, the safety guidelines are behind the technological advance, however, with further studies aimed at understanding HRI and applying it to newly developed path finding and obstacle avoidance methods, science fiction can become science fact.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

scholarly journals Economic, Social Impacts and Operation of Smart Factories in Industry 4.0 Focusing on Simulation and Artificial Intelligence of Collaborating Robots

2019 ◽  
Vol 8 (5) ◽  
pp. 143 ◽  
Author(s):  
Rabab Benotsmane ◽  
György Kovács ◽  
László Dudás
Keyword(s):  
Artificial Intelligence ◽  
Industry 4.0 ◽  
Optimal Operation ◽  
Added Value ◽  
Smart Factory ◽  
Motion Path ◽  
Robot Arm ◽  
Quantitative Research Methods ◽  
Smart Factories

Smart Factory is a complex system that integrates the main elements of the Industry 4.0 concept (e.g., autonomous robots, Internet of Things, and Big data). In Smart Factories intelligent robots, tools, and smart workpieces communicate and collaborate with each other continuously, which results in self-organizing and self-optimizing production. The significance of Smart Factories is to make production more competitive, efficient, flexible and sustainable. The purpose of the study is not only the introduction of the concept and operation of the Smart Factories, but at the same time to show the application of Simulation and Artificial Intelligence (AI) methods in practice. The significance of the study is that the economic and social operational requirements and impacts of Smart Factories are summarized and the characteristics of the traditional factory and the Smart Factory are compared. The most significant added value of the research is that a real case study is introduced for Simulation of the operation of two collaborating robots applying AI. Quantitative research methods are used, such as numerical and graphical modeling and Simulation, 3D design, furthermore executing Tabu Search in the space of trajectories, but in some aspects the work included fundamental methods, like suggesting an original whip-lashing analog for designing robot trajectories. The conclusion of the case study is that—due to using Simulation and AI methods—the motion path of the robot arm is improved, resulting in more than five percent time-savings, which leads to a significant improvement in productivity. It can be concluded that the establishment of Smart Factories will be essential in the future and the application of Simulation and AI methods for collaborating robots are needed for efficient and optimal operation of production processes.

Temperature Effects on Performance of Industrial Robots Made of Composite Materials

2011 ◽  
Vol 403-408 ◽  
pp. 603-606
Author(s):  
Alin Ristea ◽  
Oprean Aurel
Keyword(s):  
Composite Materials ◽  
Temperature Effects ◽  
Theoretical Study ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Positioning Precision ◽  
Effects Of Temperature ◽  
Mechanical Elements

Industrial Robots design is always a challenge in terms of the materials being chosen for manufacturing the mechanical elements of the robots. The present paper is a theoretical study on the effects of temperature to the positioning precision of the robots with mechanical elements having composite materials in their structure. A case study was made on a SCARA industrial robot structure.

THE CAPABILITY MAP: A TOOL TO ANALYZE ROBOT ARM WORKSPACES

2013 ◽  
Vol 10 (04) ◽  
pp. 1350031 ◽  
Author(s):  
FRANZISKA ZACHARIAS ◽  
CHRISTOPH BORST ◽  
SEBASTIAN WOLF ◽  
GERD HIRZINGER
Keyword(s):  
Industrial Robot ◽  
Humanoid Robots ◽  
Design Phase ◽  
Robot Arm ◽  
Robot System ◽  
Complex Tasks ◽  
Robot Arms ◽  
Cooperative Tasks ◽  
Robot Systems ◽  
The Individual

More and more systems are developed that include several robot arms, like humanoid robots or industrial robot systems. These systems are designed for complex tasks to be solved in cooperation by the robot arms. However, the capabilities of the individual robot arms to perform given tasks or the suitability of a multi-robot system for cooperative tasks cannot be intuitively comprehended. For planning complex tasks or designing robot systems, a representation of a robot arm's workspace is needed that allows to determine from which directions objects in the workspace can be reached. In this paper, the capability map is presented. It is a representation of a robot arm's kinematic capabilities in its workspace. The capability map is used to compare existing robot arms, to support the design phase of an anthropomorphic robot arm and to enable robot workcell planning.

scholarly journals Kinematic Analysis of 6 DOF Articulated Robotic Arm

2021 ◽  
pp. 1-5
Author(s):  
Aravinthkumar T ◽  
Suresh M ◽  
Vinod B
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Material Handling ◽  
Manufacturing Sector ◽  
Industrial Robot ◽  
Research Work ◽  
Industrial Robots ◽  
Robot Arm ◽  
Articulated Robot ◽  
Increasing Demand

The abstract must be a precise and reflection of what is in your article. Manufacturing sector is moving towards industry 4.0 and demands a high end of automation in the process. In which industrial robots play a fundamental role for automating the processes such as pick and place, material handling, palletizing, welding, painting, assembly lines and many more endless applications. Increasing demand and necessity made more research on industrial robots, machine learning and artificial intelligence. Better kinematic analysis of robots leads to reliable, high precise and fast responsive system. But there is an absence of India based robot manufacturers to fulfil the rising demand. Again, this situation leads to a market for foreign robot makers instead of local players. Lack of knowledge in robotics, unavailability of robot parts and resources are pain points for this cause. As researchers in this domain and have a goal to resolve this issue by providing open source, easily accessible industrial robot technical resources to everyone. This research work focuses the design and development of 6 Degrees of Freedom articulated robot arm with kinematic analysis particularly forward and inverse kinematics.

scholarly journals Innovation in service industry: the role of consultants

2018 ◽  
Vol 5 (4) ◽  
pp. 74-102 ◽  
Author(s):  
Manuela Dias Rezende Pinto ◽  
Irina Saur-Amaral ◽  
Carlos Melo Brito
Keyword(s):  
Service Industry ◽  
Added Value ◽  
Manufacturing Companies ◽  
Study Approach ◽  
Service Companies ◽  
Innovation Intermediaries ◽  
Use Of Technology ◽  
Collaboration Process

Much of the existing literature on innovation intermediaries is focused on manufacturing, and limited scientific knowledge has been developed about the role of intermediaries in services. This paper aims to expand and test an existing framework on the roles and functions of intermediaries in services, focusing specifically on consultancies. Furthermore, it is investigated to what extent services and manufacturing are perceived as different clients, and what represents the added-value of consultancies. Using a case study approach, consultancies´ activities are analysed and compared within services and manufacturing contexts. Findings indicate that while consultancies do not consider manufacturing companies different from service companies, during the collaboration process several differences do exist in terms of their role in these two types of companies, mainly due to different degrees of development of the corresponding innovation strategies and to different perspectives regarding the use of technology. 

Integration of Waste Assessment Model and Lean Automation to Improve Process Cycle Efficiency in the Automotive Industry

2021 ◽  
Vol 25 (3) ◽  
pp. 48-64
Author(s):  
Setiawan Setiawan ◽  
Indra Setiawan ◽  
Choesnul Jaqin ◽  
Herry Agung Prabowo ◽  
Humiras Hardi Purba
Keyword(s):  
Lean Production ◽  
Global Market ◽  
Assessment Model ◽  
Production Costs ◽  
Added Value ◽  
Manufacturing Companies ◽  
Manufacturing Performance ◽  
Cycle Efficiency ◽  
Assembly Production

Purpose: This study aims to improve Process Cycle Efficiency (PCE) by reducing waste in the assembly production line. This research is a case study conducted in a four-wheel vehicle manufacturing company to create a Lean production system. Methodology/Approach: This study uses the Waste Assessment Model (WAM) and Lean Automation integration methods carried out by 5 expert judgements in the selected four-wheeled vehicle industry. Findings: Based on the WAM method, this study found the biggest waste on the assembly line, namely transportation with a percentage of 20.44%. Improvements made with Lean Automation can increase the value of PCE from 56.76% to 63.62%. Research Limitation/Implication: This research is limited to one model, namely Multi Purpose Vehicle (MPV). This research provides benefits for companies related to waste reduction. For similar companies, this research can be input for manufacturing practitioners in improving manufacturing performance to compete in the global market. This Lean production can reduce manpower which has an impact on saving production costs. Originality/Value of paper: This paper provides added value related to the application of Lean terminology which aims to improve industrial automation-based manufacturing companies.

Anti-windup for Euler-Lagrange Plants

2011 ◽  
Author(s):  
Luca Zaccarian ◽  
Andrew R. Teel
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Closed Loop ◽  
Industrial Robots ◽  
Robot Arm ◽  
Compensation Scheme ◽  
Nonlinear Plants ◽  
Puma Robot ◽  
Selection Of

This chapter considers a specific case study where the model recovery anti-windup (MRAW) framework is applied to a class of nonlinear plants consisting of all fully actuated Euler-Lagrange systems. For such plants, an anti-windup construction is proposed that is capable of recovering global asymptotic stability of the closed loop with saturation as long as the unconstrained controller guarantees global asymptotic stability and local exponential stability of the unconstrained closed loop. The chapter first explains how MRAW for the saturated closed loop can be performed by generalizing the compensation scheme for linear plants, highlighting the selection of the stabilizer as a key aspect of successful anti-windup augmentation. It then presents some simulation examples to demonstrate the proposed anti-windup construction, including its application to a simple nonlinear robot arm and to models of two industrial robots, the PUMA robot and the SCARA robot.

scholarly journals Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 80 ◽  
Author(s):  
Doria ◽  
Cocuzza ◽  
Comand ◽  
Bottin ◽  
Rossi
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Machined Surface ◽  
End Effector ◽  
Chatter Vibrations ◽  
Modes Of Vibration ◽  
Machining Robot ◽  
Robot Performance

In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of “Mozzi axis” of the end-effector is presented and discussed.

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