Please use this identifier to cite or link to this item: http://hdl.handle.net/10603/252220
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dc.coverage.spatialFramework Methods for Design Optimization of Five Axis Industrial Robots
dc.date.accessioned2019-08-01T06:40:44Z-
dc.date.available2019-08-01T06:40:44Z-
dc.identifier.urihttp://hdl.handle.net/10603/252220-
dc.description.abstractABSTRACT 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
dc.format.extent174
dc.languageEnglish
dc.relation167
dc.rightsuniversity
dc.titleFramework Methods for Design Optimization of Five Axis Industrial Robots
dc.title.alternative-
dc.creator.researcherPrabhu N
dc.subject.keywordEngineering and Technology,Engineering,Engineering Mechanical
dc.description.noteFramework Methods,Design Optimization,Five Axis, Industrial Robots
dc.contributor.guideDev Anand M
dc.publisher.placeKanyakumari
dc.publisher.universityNoorul Islam Centre for Higher Education
dc.publisher.institutionDepartment of Mechanical Engineering
dc.date.registered29/07/2010
dc.date.completed24/11/2014
dc.date.awarded25/08/2015
dc.format.dimensionsA4
dc.format.accompanyingmaterialDVD
dc.source.universityUniversity
dc.type.degreePh.D.
Appears in Departments:Department of Mechanical Engineering

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acknowledgement.pdfAttached File8.34 kBAdobe PDFView/Open
certificate.pdf16.73 kBAdobe PDFView/Open
chapter iii.pdf2.4 MBAdobe PDFView/Open
chapter ii.pdf819.54 kBAdobe PDFView/Open
chapter i.pdf238.06 kBAdobe PDFView/Open
chapter iv.pdf542.05 kBAdobe PDFView/Open
chapter ix.pdf16.68 kBAdobe PDFView/Open
chapter viii.pdf740.52 kBAdobe PDFView/Open
chapter vii.pdf290.03 kBAdobe PDFView/Open
chapter vi.pdf676 kBAdobe PDFView/Open
chapter v.pdf657.34 kBAdobe PDFView/Open
references.pdf115.81 kBAdobe PDFView/Open
title page.pdf19.23 kBAdobe PDFView/Open


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