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Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
ABB Corporate Research, Västerås, Sweden.
ABB Corporate Research, Västerås, Sweden.
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2014 (English)In: 16th International Conference on Advanced Robotics ICAR 2013, 2014, Article number 6766460- p.Conference paper, Published paper (Refereed)
Abstract [en]

In this study, serial and parallelogram linkage structures are evaluated and compared, on the basis of kinematic performance measures such as workspace and manipulability. Tradeoff relationships between workspace manipulability are established for both the structures, using the configuration of the arm lengths as a design variable. The structures are also analyzed on the basis of their manipulation ability in specific regions of their workspace, providing additional design criteria during the selection of the kinematic structure in the synthesis of industrial articulated robots.

Place, publisher, year, edition, pages
2014. Article number 6766460- p.
Keyword [en]
Condition Number, Industrial Robot, Singularity, Workspace
National Category
Engineering and Technology Other Engineering and Technologies
Identifiers
URN: urn:nbn:se:mdh:diva-26426DOI: 10.1109/ICAR.2013.6766460Scopus ID: 2-s2.0-84899426922OAI: oai:DiVA.org:mdh-26426DiVA: diva2:759969
Conference
16th International Conference on Advanced Robotics ICAR 2013 , 25-29 Nov 2013, Montevideo, Uruguay
Projects
INNOFACTURE - innovative manufacturing development
Available from: 2014-11-02 Created: 2014-10-31 Last updated: 2015-10-12Bibliographically approved
In thesis
1. Evaluation of robot structures: For applications that require high performance, safety and low energy consumption
Open this publication in new window or tab >>Evaluation of robot structures: For applications that require high performance, safety and low energy consumption
2015 (English)Licentiate thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Eskilstuna: Mälardalen University, 2015
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 223
National Category
Mechanical Engineering
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-29307 (URN)978-91-7485-239-4 (ISBN)
Presentation
2015-11-27, Mälardalens högskola, Filen, Eskilstuna, 14:00 (English)
Opponent
Supervisors
Available from: 2015-10-12 Created: 2015-10-08 Last updated: 2015-11-09Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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Output format
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