Framework Methods for Design Optimization of Five Axis Industrial Robots

Abstract

ABSTRACT newlineIndustrial automation with various operations is involved with the intelligent system. Robot is an efficient form of intelligent system. Productivity is increased by using the intelligent robotic system in a manufacturing sector. Because of various design parameters of robot, manufacturing process is used with the help of computer based engineering technique. Likewise computer-based engineering techniques of manufacturing process are incorporated in Scorbot-ER Vu Plus Industrial Robot in this research work. newlineNormally, at high speed movement of end-effector more deflection will be occurred at stoppage point. In order to reduce the deflection, more concentration must be carried out for trajectory design and its positions. Getting of complete kinematic analysis result with high accuracy is a tedious process. Object orientation and point position of end-effector is determined based on the set of joint variables by inverse kinematic analysis. In inverse kinematic analysis, getting of single solution is very difficult instead of getting multiple solutions of joint variables unlike to forward kinematic analysis and it will take more time for controlling the manipulator in real time. To tackle this scenario, initially a complete kinematic model of the Scorbot-ER Vu Plus Robot arm is derived for manipulator control in its work volume. Position error is investigated numerically and experimentally presented a trajectory design of robot for this research work. This method is very effective for proposed model with very less percentage of errors. newlineIn dynamic analysis, actuated joints of robot are concentrated by a set of torque and/or force function for producing certain motion characteristics. In addition to mass characteristics of the links, payload and external force etc, spatial attributes are also depended, based on these set of functions. Dynamic analysis and dynamic synthesis are the two different approaches of robot manipulator dynamics. Equation of motion for robot controller is derived under dynamic analysis a