The Novel of Six axes Robotic Arm for Industrial Applications

Aparnathi, Rajendra; Dwivedi, Ved Vyas

doi:10.11591/ijra.v3i3.4892

Cited by 7 publications

(8 citation statements)

References 3 publications

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“…To date, we have not had sufficient time to consider some works that should be conducted to study and solve the problems that persist in this motion mechanism and its practical usage for moving robotic arms, especially the 6-DOF robotic arms with rotational joints. With respect to this concern, however, the following should be noted: [1] To date, we have had no time to focus on the dynamic control of this mechanism and its use in a robot. This issue is very important, especially as it relates to discussing the design of the robot's mechanical elements, and it definitely is our plan to conduct the required studies in sufficient detail in the future.…”

Section: Discussionmentioning

confidence: 99%

“…Other issues are the flexibility of the joints and arms and conducting a vibration analysis of the robot. To apply kinematic simulation on the robotic arm, we should do the following steps in order: [1] Calculate the path generation of desired kinematic elements: a process that has four internal stages, i.e., 1.1. Calculation of the inverse kinematic; 1.2.…”

Section: Conclusion From Equation 4 Conclusion From Figsmentioning

confidence: 99%

“…The robots used in most industries are 6 DOF robotic arms [1], because they have the ability to position and rotate for their end effectors with high accuracy. In the past few decades, various mechanisms have been considered to provide 6 degrees of freedom for the motion of robotic arms, with the robotic arms with rotational joints and wrists with intersecting axes being used most often.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A New 6 DOF Robotic Arm with Linkage Motion Mechanism and Actuators Placed in Base

Shahhosseini¹,

Rastegari²

2016

IJRA

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<p>We examined mechanism design and kinematic simulation of a new six degrees of freedom (DOF) robotic arm with rotational joints and a linkage motion mechanism. In the design, a parallel linkage mechanism, accompanied by an additional set of bevel gears, was used to create the desired motion for all six links along with transfer of all actuators to the robot’s base to reduce the mass of most of the arms. These changes resulted in reduction of the torque required for joints 1, 2, and 3. Using this parallel mechanism ensures dependence to motion links and creates a special case for the control of the robot and more rigidity against unwanted movement. Initially, we examined mechanism design methods for a parallel linkage mechanism and considered methods for application in an operational robot. In the next step, we determined the kinematic relationships that were established between the robot’s actuators and joints spaces due to the use of this mechanism. Then, we developed an example of the robot’s function in a performance simulation. The simulation results indicated that the mechanism and controller performance were acceptable.</p>

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Section: Discussionmentioning

confidence: 99%

Section: Conclusion From Equation 4 Conclusion From Figsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A New 6 DOF Robotic Arm with Linkage Motion Mechanism and Actuators Placed in Base

Shahhosseini¹,

Rastegari²

2016

IJRA

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“…Aparnathi and Rajendra have developed a six axes robotic arms to perform various actions in industry. The architecture of the arm consists of manipulator with end effecter, controller as commander, power supply, feedback mechanism, and sensor feedback [22].…”

Section: Related Workmentioning

confidence: 99%

ThamRobot: An Automated Robotic System to Play Thammattama

Goonatilleke¹,

Hettige²

2021

IJCATR

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Sri Lanka has a precious traditional drum music culture that is mainly based on traditional drums. At present, this drum culture is in decline due to a lack of talented drum players. As a result, many Buddhist temples are facing a serious and tragic problem. This article presents the design and implementation of a robotic system named ThamRobot contains two robotic arms that were designed to play pre-programmed three drum tunes of the Thammattama correctly and efficiently like a drum player without any intervention of a human. In the research, nine major characteristics factors of the Thammattama such as music notes, drum locations, approximate stress, frequencies, pitch, drum type, number of sticks, playing technique, distance from stick to drum face were identified. The entire system is comprised of four main modules named motion module, user-operation module, processing module, power supply module. Finally, the system has been tested in a laboratory environment and encouraging results were obtained.

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“…The links of such a manipulator are connected by joints allowing either rotational motion such as in an articulated robot or translational (linear) displacement. Usually, the end effector is attached to the end joint of the structure [14][15][16][17]. Precise control at each DOF of a robotic arm is considered a competitive key to improving performance through the implementation of industrial robotic arms [18,19].…”

Section: Introductionmentioning

confidence: 99%

Perspective Chapter: Fabulous Design Speed Industrial Robotic Arm

Alkhafaji¹

2023

Human-Robot Interaction - Perspectives and Applications

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This chapter focuses on the design of a handling 5 Degree of freedom (DOF) robot arm model for industrial application. Optimal trajectory planning of industrial robots in the assembly line is a key topic to boost productivity in a variety of manufacturing activities. The aim is to improve the speed performance using multi techniques starting from estimating the transfer function of each manipulated joint, then designing the controller for each DOF reached to modeling arm motion. The designed model has been developed the structural design and testing motion characteristics by using SolidWorks and Simscape toolbox. To enhance the speed performance, it is proposed a High-Speed Proportional Integral Derivative controller (HSPID) based on an improved GA. The comparison response time between uncontrolled and controlled systems proves that the proposed controller produced extreme reduction responses to be measured within the Microsecond unit. Based on trajectory motion, the efficiency of the proposed method is assured by case study motions. The innovative design offers the best solution to rise accurate performance and productivity.

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The Novel of Six axes Robotic Arm for Industrial Applications

Cited by 7 publications

References 3 publications

A New 6 DOF Robotic Arm with Linkage Motion Mechanism and Actuators Placed in Base

A New 6 DOF Robotic Arm with Linkage Motion Mechanism and Actuators Placed in Base

ThamRobot: An Automated Robotic System to Play Thammattama

Perspective Chapter: Fabulous Design Speed Industrial Robotic Arm

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