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.

Precision Evaluation of NeXus, a Custom Multi-Robot System for Microsystem Integration

2021 ◽  
Author(s):  
Danming Wei ◽  
Alireza Tofangchi ◽  
Andriy Sherehiy ◽  
Mohammad Hossein Saadatzi ◽  
Moath Alqatamin ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Sensor Arrays ◽  
Industrial Robots ◽  
Element Analysis ◽  
Product Packaging ◽  
Precision Evaluation ◽  
High Efficient ◽  
Supporting Frame ◽  
Microsystem Integration

Abstract Industrial robots, as mature and high-efficient equipment, have been applied to various fields, such as vehicle manufacturing, product packaging, painting, welding, and medical surgery. Most industrial robots are only operating in their own workspace, in other words, they are floor-mounted at the fixed locations. Just some industrial robots are wall-mounted on one linear rail based on the applications. Sometimes, industrial robots are ceiling-mounted on an X-Y gantry to perform upside-down manipulation tasks. The main objective of this paper is to describe the NeXus, a custom robotic system that has been designed for precision microsystem integration tasks with such a gantry. The system tasks include assembly, bonding, and 3D printing of sensor arrays, solar cells, and microrobotic prototypes. The NeXus consists of a custom designed frame, providing structural rigidity, a large overhead X-Y gantry carrying a 6 degrees of freedom industrial robot, and several other precision positioners and processes. We focus here on the design and precision evaluation of the overhead ceiling-mounted industrial robot of NeXus and its supporting frame. We first simulated the behavior of the frame using Finite Element Analysis (FEA), then experimentally evaluated the pose repeatability of the robot end-effector using three different types of sensors. Results verify that the performance objectives of the design are achieved.

scholarly journals Detachable Robotic Grippers for Human-Robot Collaboration

2021 ◽  
Vol 8 ◽  
Author(s):  
Zubair Iqbal ◽  
Maria Pozzi ◽  
Domenico Prattichizzo ◽  
Gionata Salvietti
Keyword(s):  
Degrees Of Freedom ◽  
Tactile Feedback ◽  
Industrial Robots ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Hands ◽  
End Effector ◽  
External Power ◽  
Self Powered ◽  
Automatic Tool

Collaborative robots promise to add flexibility to production cells thanks to the fact that they can work not only close to humans but also with humans. The possibility of a direct physical interaction between humans and robots allows to perform operations that were inconceivable with industrial robots. Collaborative soft grippers have been recently introduced to extend this possibility beyond the robot end-effector, making humans able to directly act on robotic hands. In this work, we propose to exploit collaborative grippers in a novel paradigm in which these devices can be easily attached and detached from the robot arm and used also independently from it. This is possible only with self-powered hands, that are still quite uncommon in the market. In the presented paradigm not only hands can be attached/detached to/from the robot end-effector as if they were simple tools, but they can also remain active and fully functional after detachment. This ensures all the advantages brought in by tool changers, that allow for quick and possibly automatic tool exchange at the robot end-effector, but also gives the possibility of using the hand capabilities and degrees of freedom without the need of an arm or of external power supplies. In this paper, the concept of detachable robotic grippers is introduced and demonstrated through two illustrative tasks conducted with a new tool changer designed for collaborative grippers. The novel tool changer embeds electromagnets that are used to add safety during attach/detach operations. The activation of the electromagnets is controlled through a wearable interface capable of providing tactile feedback. The usability of the system is confirmed by the evaluations of 12 users.

scholarly journals ABB IRB 120-30.6 Build Procedure in RoboDK

2021 ◽  
pp. 256-264
Author(s):  
Sudip Chakraborty ◽  
P. S. Aithal
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Research Purpose ◽  
Six Degrees Of Freedom ◽  
Simulation Based ◽  
Software Download ◽  
Coordinate Assignment

Purpose: Research on robotics needs a robot to experiment on it. The actual industrial robot is costly. So, the only resort is to use a Robot simulator. The RoboDK is one of the best robot simulators now. It has covered most of the popular industrial robots. Its interface is straightforward. Just open the software, download the robot as we need, and start experiments. Up to that, no issue was found anywhere. However, the problem begins when we want to build the simulated robot by own. Lots of complexity arises like coordinate assignment, rotation not aligned, length mismatch, robot not synced with DH parameter. We begin to find some documents for making the robots. A few bits of the document are present. That is why we research it. After doing that, we prepared this paper for the researcher who wants to develop the simulated robot independently. This paper can be referenced for them. To minimize the complexity of our research, we study an industrial robot, ABB IRB 120-30.6. It is a good and popular robot. It is six degrees of freedom robot. We will use the specification and STEP file from their respective website and build a simulated robot from the STEP file for our research purpose. Design/Methodology/Approach: We will create a simulated robot from ABB IRB 120-30.6 STEP file. To create a robot by own, we took the help of the IRB 120 robot model. To demonstrate as simple as possible, we start with that robot whose default design is already present. We match and tune the joint coordinate based on robot parameters through this experiment. Findings/results: Here, we see how to create a custom robot. Using the IRB 120 robot model, we will create a robot model step by step. Furthermore, it will move it around its axis. Originality/Value: Using this experiment, the new researcher can get valuable information to create their custom robot. Paper Type: Simulation-based Research.

scholarly journals KINEMATICS ANALYSIS AND IMPLEMENTATION OF THREE DEGREES OF FREEDOM ROBOTIC ARM BY USING MATLAB

2021 ◽  
Vol 21 (2) ◽  
pp. 118-129
Author(s):  
Hasan Dawood Salman ◽  
Mohsin Noori Hamzah ◽  
Sadeq Hussein Bakhy
Keyword(s):  
Interface Design ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Algebraic Solution ◽  
Robot Arm ◽  
Kinematics Modeling ◽  
Arduino Microcontroller ◽  
Articulated Robot ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

The kinematics modeling of the robot arm plays an important role in robot control. This paper presents the kinematic model of a three-degree of freedom articulated robot arm, which is designed for picking and placing an application with hand gripper, where a robot has been manufactured for that purpose. The forward kinematic model has been presented in order to determine the end effector’s poses using the Denavit-Hartenberg (DH) convention. For inverse kinematics, an algebraic solution based on trigonometric formulas mixed with geometric method was adopted for a 3 DOF modular manipulator taking into account the existence of a shoulder offset. MATLAB software was used as a tool to simulate and implement the motional characteristics of the robot arm, by creating a 3D visual software package under designing a Graphical User Interface "GUI" with a support simulation from robotic Toolbox (Rtb 10.3). Finally, an electronic interfacing circuit between the GUI program and the robot arm was developed using Arduino microcontroller to control the robot motion. The presented work can be applicable for learning the reality interface design methodology of the other kinds of robot manipulators and achieve a suitable solution for the motional characteristics

The Command of a Virtual Industrial Robot Using a Dedicated Haptic Interface

2013 ◽  
Vol 837 ◽  
pp. 543-548 ◽  
Author(s):  
Silviu Butnariu ◽  
Florin Gîrbacia
Keyword(s):  
Haptic Feedback ◽  
Industrial Robot ◽  
Structural Similarity ◽  
Haptic Device ◽  
Haptic Interface ◽  
Robot Arm ◽  
Test Results ◽  
Human Arm ◽  
Angular Data ◽  
Articulated Robot

In this paper is presented a study regarding the possibilities of commandinga virtual robot using a haptic interface. In order to demonstrate the functionality of this concept, a dedicated device with 1 DOF was developed. This device consists of twin motor-gearbox able to acquire and transmit the angular data of the shaft and return a haptic feedback corresponding to the robot movement. The proposed haptic device makes it possible to command one joint of an industrial robot and can be used as an essential component for the development of an exoskeleton for human arm and is able to generate a haptic interaction for all the joints. The exoskeleton solution will allow a structural similarity between the haptic device and an articulated robot arm. The test results with haptic feedback scenarios show that the proposed system can help inexperienced users to handle robot operation and programming tasks in an intuitive way.

Study of Neural-Kinematics Architectures for Model-Less Calibration of Industrial Robots

2021 ◽  
Vol 33 (1) ◽  
pp. 158-171
Author(s):  
Monica Tiboni ◽  
◽  
Giovanni Legnani ◽  
Nicola Pellegrini
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Back Propagation ◽  
Simulated Data ◽  
Industrial Robots ◽  
Robot Calibration ◽  
Feed Forward Neural Network ◽  
Comparative Performance ◽  
Order Of Magnitude

Modeless industrial robot calibration plays an important role in the increasing employment of robots in industry. This approach allows to develop a procedure able to compensate the pose errors without complex parametric model. The paper presents a study aimed at comparing neural-kinematic (N-K) architectures for a modeless non-parametric robotic calibration. A multilayer perceptron feed-forward neural network, trained in a supervised manner with the back-propagation learning technique, is coupled in different modes with the ideal kinematic model of the robot. A comparative performance analysis of different neural-kinematic architectures was executed on a two degrees of freedom SCARA manipulator, for direct and inverse kinematics. Afterward the optimal schemes have been identified and further tested on a three degrees of freedom full SCARA robot and on a Stewart platform. The analysis on simulated data shows that the accuracy of the robot pose can be improved by an order of magnitude after compensation.

Study of Low-Load Industrial Robot

2013 ◽  
Vol 774-776 ◽  
pp. 1409-1413
Author(s):  
Bei Yu Chen
Keyword(s):  
Technological Innovation ◽  
Industrial Robot ◽  
Virtual Prototyping ◽  
Three Dimensional ◽  
General Purpose ◽  
Industrial Robots ◽  
Precision Machining ◽  
Structural Components ◽  
Low Load ◽  
Increasing Demand

In recent years, China's increasing demand for precision machining and auxiliary processing, technological innovation is increasingly urgent. After a summary and integration advantages of virtual prototyping and computer-aided software, developed a General Purpose low-load industrial robots. In this paper, the D-H method in MATLAB to establish a three-dimensional diagram of the industrial robot. Using ANSYS to do a check of the stiffness of the important components of the industrial robot mechanical systems. Finally, after the structure static analysis and verification, to improve the design of the structural components of the robot. Obtained according to the repeatedly comparison of the overall shape of variable verification data, which prove that the design is correct.

scholarly journals AUTOMATION OF THE DESIGN OF THE CROSS-SECTION OF THE MANIPULATOR ARMS PROFILE

2021 ◽  
Vol 2021 (4) ◽  
pp. 4863-4871
Author(s):  
MILAN MIHOLA ◽  
◽  
ZDENEK ZEMAN ◽  
DAVID FOJTIK ◽  
◽  
...  
Keyword(s):  
Cross Sections ◽  
Degrees Of Freedom ◽  
Software Tool ◽  
Point Of View ◽  
Industrial Robots ◽  
Robot Arm ◽  
Cross Sectional ◽  
Simulation Tools ◽  
Cad System ◽  
Time Required

The design of the arms of industrial robots and manipulators is a demanding process both in terms of expertise and in terms of the time required. For these reasons, algorithms have been created, with the help of which it is possible to design cross-sections of individual arms of robots and manipulators not only from the point of view of maximum allowed deflection but also from the point of view of minimizing cross-sectional dimensions or minimizing the weight of arms. These algorithms were subsequently used in the development of the software tool RobotArmDesign, with the help of which it is possible to simplify and shorten the arm design process significantly. This tool also has a connection to the SolidWorks CAD system and its simulation tools through its API interface, making it possible to refine robot arms designs while maintaining significantly shorter design times than would be the case with commonly used procedures. This tool's capabilities were demonstrated in the design of a robot arm with an angular structure and five degrees of freedom.

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.

scholarly journals Automation of the design of the cross-section of the manipulator arms profile

2021 ◽  
Vol 10 (3) ◽  
pp. 170
Author(s):  
Milan Mihola ◽  
Zdenek Zeman ◽  
David Fojtik
Keyword(s):  
Cross Sections ◽  
Degrees Of Freedom ◽  
Software Tool ◽  
Point Of View ◽  
Industrial Robots ◽  
Robot Arm ◽  
Cross Sectional ◽  
Simulation Tools ◽  
Cad System ◽  
Time Required

<p>The design of the arms of industrial robots and manipulators is a demanding process both in ter ms of expertise and in terms of the time required. For these reasons, algorithms have been created, with the help of which it is possible to design cross - sections of individual arms of robots and manipulators not only from the point of view of maximum allo wed deflection but also from the point of view of minimizing cross - sectional dimensions or minimizing the weight of arms. These algorithms were subsequently used in the development of the software tool RobotArmDesign, with the help of which it is possible to simplify and shorten the arm design process significantly. This tool also has a connection to the SolidWorks CAD system and its simulation tools through its API interface, making it possible to refine robot arms designs while maintaining significantly s horter design times than would be the case with commonly used procedures. This tool's capabilities were demonstrated in the design of a robot arm with an angular structure and five degrees of freedom.</p>

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