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Evaluation of robot structures: For applications that require high performance, safety and low energy consumption
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation. (INNOFACTURE)
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: urn:nbn:se:mdh:diva-29307ISBN: 978-91-7485-239-4 (print)OAI: oai:DiVA.org:mdh-29307DiVA: diva2:859697
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
List of papers
1. Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation
Open this publication in new window or tab >>Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation
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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.

Keyword
Condition Number, Industrial Robot, Singularity, Workspace
National Category
Engineering and Technology Other Engineering and Technologies
Identifiers
urn:nbn:se:mdh:diva-26426 (URN)10.1109/ICAR.2013.6766460 (DOI)2-s2.0-84899426922 (Scopus ID)
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
2. Stiffness based global indices for structural evaluation of anthropomorphic manipulators
Open this publication in new window or tab >>Stiffness based global indices for structural evaluation of anthropomorphic manipulators
2014 (English)In: Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014, 2014, 708-715 p.Conference paper, Published paper (Refereed)
Abstract [en]

Knowledge based on experience and rules of thumb is often used during the concept selection phase of robot design since it could be extremely time consuming to perform the complete robot design process on all the possible structural alternatives. This article proposes an efficient procedure to perform structural evaluation of anthropomorphic manipulators with and without parallel transmission linkages for applicability in new generations of light weight and cost effective industrial robots. In this study the structural evaluation is performed based on the static elasticity behaviour of the two manipulator structures with emphasis on improving the structural rigidity without jeopardizing the control characteristics with respect to static deflection and natural frequencies.

Keyword
Anthropomorphic Manipulators, Global index, Structural evaluation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:mdh:diva-26550 (URN)2-s2.0-84908432148 (Scopus ID)9783800736010 (ISBN)
Conference
Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014, 2 June 2014 through 3 June 2014
Available from: 2014-11-14 Created: 2014-11-14 Last updated: 2015-11-16Bibliographically approved
3. A methodology for comparing the dynamic efficiency of different kinematic robot structures
Open this publication in new window or tab >>A methodology for comparing the dynamic efficiency of different kinematic robot structures
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.

National Category
Mechanical Engineering
Identifiers
urn:nbn:se:mdh:diva-28958 (URN)10.1109/ICMA.2015.7237763 (DOI)000380447600318 ()2-s2.0-84955315451 (Scopus ID)978-1-4799-7097-1 (ISBN)
External cooperation:
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

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