Trial - and - Error Optimization Method of Pick and Place Task for RV-2AJ Robot Arm

Benotsmane, Rabab; Dudás, László; Kovács, György

doi:10.1007/978-981-15-9529-5_39

Cited by 2 publications

(1 citation statement)

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“…Especially with technological developments, the manipulator arm, for example, presents the most often used tool in the production sector [8], where it can cooperate with its environment and work safety [9,10]. In addition to the ability to pick huge products and control itself in a flexible and smart way, the physical structure of the manipulator arm regroups two essential parts [11]. These parts are the serial links articulated as an arm and the end-effector, which can be reconfigurable according to the task [12,13].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization of Industrial Robot Arms Using a Newly Elaborated “Whip-Lashing” Method

2020

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The application of the Industry 4.0′s elements—e.g., industrial robots—has a key role in the efficiency improvement of manufacturing companies. In order to reduce cycle times and increase productivity, the trajectory optimization of robot arms is essential. The purpose of the study is the elaboration of a new “whip-lashing” method, which, based on the motion of a robot arm, is similar to the motion of a whip. It results in achieving the optimized trajectory of the robot arms in order to increase velocity of the robot arm’s parts, thereby minimizing motion cycle times and to utilize the torque of the joints more effectively. The efficiency of the method was confirmed by a case study, which is relating to the trajectory planning of a five-degree-of-freedom RV-2AJ manipulator arm using SolidWorks and MATLAB software applications. The robot was modelled and two trajectories were created: the original path and path investigate the effects of using the whip-lashing induced robot motion. The application of the method’s algorithm resulted in a cycle time saving of 33% compared to the original path of RV-2AJ robot arm. The main added value of the study is the elaboration and implementation of the newly elaborated “whip-lashing” method which results in minimization of torque consumed; furthermore, there was a reduction of cycle times of manipulator arms’ motion, thus increasing the productivity significantly. The efficiency of the new “whip-lashing” method was confirmed by a simulation case study.

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