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Kinematic-Kinetic-Rigidity Evaluation of a Six Axis Robot Performing a Task : Valutazione di cinematica cinetica rigidita per un robot a sei assi durante un' attività, in: International Journal of Advanced Robotic Systems |
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Información general |
| Autor |
Karagulle, H.; Amindari, A.; Akdag, M.; Malgaca, L.; Sarı, Yavuz |
| Publicado |
InTech Open Access Publisher, 2012
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| Abstract |
Six axis serial robots of different sizes are widely
used for pick and place, welding and various other
operations in industry. Developments in mechatronics,
which is the synergistic integration of mechanism,
electronics and computer control to achieve a functional
system, offer effective solutions for the design of such
robots. The integrated analysis of robots is usually used
in the design stage. In this study, it is offered that the
integrated analysis of robots can also be used at the
application stage. SolidWorks, CosmosMotion and
ABAQUS programs are used with an integrated
approach. Integration software (IS) is developed in Visual
Basic by using the application programming interface
(API) capabilities of these programs. An ABB‐IRB1400
industrial robot is considered for the study. Different
trajectories are considered. Each task is first evaluated by
a kinematic analysis. If the task is out of the workspace,
then the task is cancelled. This evaluation can also be
done by robot programs like Robot Studio. It is proposed
that the task must be evaluated by considering the limits
for velocities, motor actuation torques, reaction forces,
natural frequencies, displacements and stresses due to the
flexibility. The evaluation is done using kinematic, kinetic
and rigidity evaluation charts. The approach given in this
work can be used for the optimal usage of robots. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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