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A methodology for comparing the dynamic efficiency of different kinematic robot structures
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
ABB Robotics, Sweden. (ABB Robotics)
2015 (English)In: 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, 2015, 1822-1827 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2015. 1822-1827 p.
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-28958DOI: 10.1109/ICMA.2015.7237763ISI: 000380447600318Scopus ID: 2-s2.0-84955315451ISBN: 978-1-4799-7097-1 (print)OAI: oai:DiVA.org:mdh-28958DiVA: diva2:855508
Conference
2015 IEEE International Conference on Mechatronics and Automation (ICMA), 2-5 Aug. 2015, Beijing, China
Available from: 2015-09-21 Created: 2015-09-21 Last updated: 2016-09-01Bibliographically 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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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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  • asciidoc
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