Local and trajectory-based indexes for task-related energetic performance optimization of robotic manipulators

In this paper a task-dependent energy analysis of robotic manipulators is presented. The proposed approach includes a novel performance index, which relates the energetic consumption of a robotic manipulator to its inertia ellipsoid. To validate the method, the dynamic and electro-mechanic models of a 3-DOF SCARA robot are implemented and the influence of the location of a predefined point-to-point task (such as a pick-and-place operation) within the robot workspace is considered. The task-dependent analysis provides energy consumption maps that are compared with the prediction of the theoretical formulation based on the proposed Trajectory Energy Index (TEI), which can be used to optimally locate the task to obtain minimal energy consumption without having to compute it through extensive dynamic simulations. Results show the effectiveness of the method and the good agreement between the TEI and the effective energy consumption within the whole workspace of the robot for several trajectories.

ROBOTIZED WORKPLACE FOR PICK AND PLACE OPERATION IN SIMULATION PROGRAM ROBOTSTUDIO

The aim of the article is to acquaint the proposal for a robotized workplace to sort the SM072 and SM155 servo motor. This workplace is designed and programmed in RobotStudio simulation environment. This program is from ABB and serves for offline programming of industrial robots. The article deals with the complete design of the workplace and parts thereof in this simulation environment. These are individual parts of the workplace, the creation procedure and the overall design of the industrial robot workplace. The article is a publication of scientific and methodical character.

Colour Sensing Using Robotic ARM

Robots are used in various industries to save the process flow in terms of time and ease. It also improves the process quality of the processed object by reducing the errors. The cost of manufacturing can also be minimized. The proposed system will identify and sort the colour of the yawn in a particular colouring sequence, which is defined in the program. The robot identifies the colour, based on the input given in the keypad. It also picks the object from a source table and place it in a desired destination and vice versa. This Paper aims to select the particular coloured yawn to use it in the machineries. The robot will do pick and place operation by mechanical devices such as gripper and robotic arm. It is carried out on a low cost robot platform for development of pick and place the things. The robot act under the direct control of human or autonomously under the control of the programmed system.

High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly

To assemble microobjects including biological cells quickly and precisely, a fully automated pick-and-place operation is applied. In micromanipulation in liquid, the challenges include strong adhesion forces and high dynamic viscosity. To solve these problems, a reliable manipulation system and special releasing techniques are indispensable. A microhand having dexterous motion is utilized to grasp an object stably, and an automated stage transports the object quickly. To detach the object adhered to one of the end effectors, two releasing methods—local stream and a dynamic releasing—are utilized. A system using vision-based techniques for the recognition of two fingertips and an object, as well automated releasing methods, can increase the manipulation speed to faster than 800 ms/sphere with a 100% success rate (N = 100). To extend this manipulation technique, 2D and 3D assembly that manipulates several objects is attained by compensating the positional error. Finally, we succeed in assembling 80–120 µm of microbeads and spheroids integrated by NIH3T3 cells.

Design of Pneumatic Gripper for Pick and Place Operation (Four Jaw)

Grippers are attached at the end of an industrial arm robot for material handling purpose. Grippers plays a major role in all pick and place application industries. Those are connected as end effectors to realize and develop a task in an industrial work floor. Pneumatic gripper works with the principle of compressed air. The gripper is connected to a compressed air supply. When air pressure is applied on the piston, the gripper gets opened while the air gets exist from the piston it gets closed. It is possible to control the force acting on the gripper by controlling the air pressure with the help of the valve. The objective is to design an effective, simple, and economic gripper for pick and place application.

Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

Enhancing energy efficiency is one of the main challenges of today’s industrial robotics and manufacturing technology. In this paper a task-related analysis of the energetic performance of a 4-DOF industrial parallel robot is presented, and the optimal location of a predefined task with respect to the robot workspace is investigated. An optimal position of the task relative to the robot can indeed reduce the actuators’ effort and the energy consumption required to complete the considered operation. The dynamic and electro-mechanical models of the manipulators are developed and implemented to estimate the energy consumption of a parametrized motion with trapezoidal speed profile, i.e., a pick-and-place operation. Numerical results provide energy consumption maps that can be adopted to place the starting and ending points of the task in the more energy-efficient location within the robot workspace.