用于焊接应用的 5-DoF 机器人的运动学建模和性能分析

Machines Pub Date : 2024-06-01 DOI:10.3390/machines12060378
S. Karupusamy, Sundaram Maruthachalam, Balaji Veerasamy
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引用次数: 0

摘要

机器人机械手是工业自动化的关键,可在各种生产应用中提高生产率、质量和安全性。有效载荷、速度、精度和伸展距离等关键因素决定了机器人的性能。优化这些因素对于未来机器人在不同领域的应用至关重要。虽然 6 自由度(DoF)关节机器人因其多样化的应用而广受欢迎,但本研究为工业自动化提出了一种新型 5 自由度机器人设计,其特点是结合了三个棱柱关节和两个外旋(2R)关节,并对其工作空间进行了分析。所提出的设计技术经济高效,可控制机器人机械手在其工作空间内实现任何可达到的位置和方向,从而取代传统的 6-DoF 机器人。运动学模型集成了并行和串行机械手原理,将笛卡尔机构与旋转机构相结合。模拟结果表明,末端效应器在执行焊接、增材制造和材料检测等任务时具有很强的灵活性,能够实现所需的位置和方向。研究包括线性和旋转致动器的设计、运动学建模、人机界面(HMI)开发和焊接应用集成。所开发的机器人在焊接方面表现出卓越的性能和用户友好性。实验工作验证了该设计的优化关节轨迹、高效用电、避免奇异点、易于进入应用领域,以及由于减少了致动器而降低了成本。
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Kinematic Modeling and Performance Analysis of a 5-DoF Robot for Welding Applications
Robotic manipulators are critical for industrial automation, boosting productivity, quality, and safety in various production applications. Key factors like the payload, speed, accuracy, and reach define robot performance. Optimizing these factors is crucial for future robot applications across diverse fields. While 6-Degrees-of-Freedom (DoF)-articulated robots are popular due to their diverse applications, this research proposes a novel 5-DoF robot design for industrial automation, featuring a combination of three prismatic and two revolute (2R) joints, and analyzes its workspace. The proposed techno-economically efficient design offers control over the robot manipulator to achieve any reachable position and orientation within its workspace, replacing traditional 6-DoF robots. The kinematic model integrates both parallel and serial manipulator principles, combining a Cartesian mechanism with rotational mechanisms. Simulations demonstrate the end effector’s flexibility for tasks like welding, additive manufacturing, and material inspections, achieving the desired position and orientation. The research encompasses the design of linear and rotational actuators, kinematic modeling, Human–Machine Interface (HMI) development, and welding application integration. The developed robot demonstrates a superior performance and user-friendliness in welding. The experimental work validates the design’s optimized joint trajectories, efficient power usage, singularity avoidance, easy access in application areas, and reduced costs due to fewer actuators.
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