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A methodology for comparing the dynamic efficiency of different kinematic robot structures
Mälardalens högskola, Akademin för innovation, design och teknik, Innovation och produktrealisering.
Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
ABB Robotics, Sweden. (ABB Robotics)
2015 (Engelska)Ingår i: 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, 2015, s. 1822-1827Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This study proposes a methodology for comparing the dynamic effectiveness of two different kinematic structures based on actuator torque requirement criteria. The objective of this comparison is to find out what type of robot structure is best suited as a lightweight industrial robot in the conceptual design phase. As a proof of concept this method is applied to compare Serial and Parallelogram linkage anthropomorphic kinematic structures with respect to torque requirements. Several directions for future research are discussed to include additional comparison criteria and also to extend the application of the proposed method to compare two versions of same structure in the design phase of light weight industrial robots.

Ort, förlag, år, upplaga, sidor
2015. s. 1822-1827
Nationell ämneskategori
Maskinteknik
Identifikatorer
URN: urn:nbn:se:mdh:diva-28958DOI: 10.1109/ICMA.2015.7237763ISI: 000380447600318Scopus ID: 2-s2.0-84955315451ISBN: 978-1-4799-7097-1 (tryckt)OAI: oai:DiVA.org:mdh-28958DiVA, id: diva2:855508
Konferens
2015 IEEE International Conference on Mechatronics and Automation (ICMA), 2-5 Aug. 2015, Beijing, China
Tillgänglig från: 2015-09-21 Skapad: 2015-09-21 Senast uppdaterad: 2019-12-20Bibliografiskt granskad
Ingår i avhandling
1. Evaluation of robot structures: For applications that require high performance, safety and low energy consumption
Öppna denna publikation i ny flik eller fönster >>Evaluation of robot structures: For applications that require high performance, safety and low energy consumption
2015 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Emerging application areas, such as safe robotics and green robotics, greatly enable the extension of robot automation to new application processes in different industry segments. Successful realization of industrial robots for such application areas is highly influenced by the type of robot structure that is adopted for the design. Therefore, researchers have recently pursued new robot structures with improved characteristics resulting in the current availability of a wide variety of potential robot structures from which to choose.

Along with this, a difficult yet relevant challenge arises for robot designers to evaluate all the potential robot structures to select the best structure for new applications. This necessitates a need for tools or methods, which can aid robot designers or end-users to perform evaluation on robot structures in the early design stages. The research objective pursued in this thesis aims to address this need. To realize this objective, design knowledge must be advanced on ways or methods to quantitatively evaluate robot structures.

This project adopts research through design as a research methodology, which is based on the action-reflection approach. In this thesis, experiential knowledge is gained on how to evaluate a set of two robot structures based on various requirements. This is done by carrying out simulation-based evaluation tasks on serial and parallelogram linkage articulated robot structures. Based on the acquired experiential knowledge, a simulation-based evaluation framework is proposed in this thesis, which can be used by robot designers or end-users to enhance the likelihood of selecting the most suitable robot structure for a new application process.

Ort, förlag, år, upplaga, sidor
Eskilstuna: Mälardalen University, 2015
Serie
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 223
Nationell ämneskategori
Maskinteknik
Forskningsämne
innovation och design
Identifikatorer
urn:nbn:se:mdh:diva-29307 (URN)978-91-7485-239-4 (ISBN)
Presentation
2015-11-27, Mälardalens högskola, Filen, Eskilstuna, 14:00 (Engelska)
Opponent
Handledare
Tillgänglig från: 2015-10-12 Skapad: 2015-10-08 Senast uppdaterad: 2015-11-09Bibliografiskt granskad
2. Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration
Öppna denna publikation i ny flik eller fönster >>Evaluation of Industrial Robot Mechanical Systems for Applications that Require Human-Robot Collaboration
2020 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

In order to develop robot automation for new market sectors associated with short product lifetimes and frequent production change overs, industrial robots must exhibit a new level of flexibility and versatility. This situation has led to the growing interest in making humans and robots share their working environments and sometimes even allowing direct physical contact between the two in order to make them work cooperatively on the same task by enabling human-industrial robot collaboration (HIRC). In this context, it is very important to evaluate both the performance and the inherent safety characteristics associated with a given industrial robot manipulator system in HIRC workstation during the design and development stages.

This necessitates a need to formulate evaluation methods with relevant design metrics and quantitative methods based on simulations, which can support the robot mechanical designer to correlate the task-, and safety- based performance characteristics of industrial robot mechanical system for HIRC applications. The research objective perused in this research aiming to address this need.

This research project adopts research methodology based on action-reflection approach in a collaborative research setting between academia and industry. The design knowledge is gained on how to evaluate a specific industrial robot mechanical system design for usability in a specific collaborative application with humans. This is done by carrying out simulation-based evaluation tasks to measure and subsequently analyze the task-, and safety- based performance characteristics of industrial robot mechanical systems. Based on the acquired knowledge, an evaluation methodology with relevant design metrics and simulation modelling approaches is proposed in this research which integrates simulation based design processes of both Human-industrial robot workstation as well as robot mechanical system in order to make a well-grounded assessment on whether the robot mechanical system fulfills the task- and safety-based performance requirements corresponding to a specific collaborative application.

Ort, förlag, år, upplaga, sidor
Eskilstuna: Mälardalen University, 2020
Serie
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 308
Nationell ämneskategori
Maskinteknik
Forskningsämne
innovation och design
Identifikatorer
urn:nbn:se:mdh:diva-46609 (URN)978-91-7485-457-2 (ISBN)
Disputation
2020-02-21, Filen, Mälardalens högskola, Eskilstuna, 10:15 (Engelska)
Opponent
Handledare
Tillgänglig från: 2019-12-20 Skapad: 2019-12-20 Senast uppdaterad: 2019-12-20Bibliografiskt granskad

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