Design and implementation of modular 6-degrees of freedom light-weight cooperative handling robot

Cobot Pub Date : 2022-03-24 DOI:10.12688/cobot.17442.1

Ya Chen, Jiaheng Yang, Dianjun Wang, Haoxiang Zhong, Xingkang Zheng, Qianyang Liu

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引用次数: 2

Abstract

Background: In view of the poor working environment and high labor intensity of manual loading and unloading in the production process of small forgings, a modular 6-DOF (degrees of freedom) light-weight cooperative handling robot is designed. Combined with the computer-aided design method, the modular and lightweight design is realized through the simulation of the actual motion situation. Methods: The overall configuration and modular joints of the robot were designed, and the static characteristics analysis of the whole robot and key parts was performed using Ansys to verify the rationality of the structural design. The kinematics model of the robot was established by using the Denavit-Hartenberg parameter method and the workspace of the robot was solved by forward kinematics simulation. Performance testing of the experimental prototype was executed. The repeated positioning accuracy was analyzed by a laser tracker to measure the position information at the end of the robot. Results: The results show that the repetitive positioning accuracy of the robot is 0.09mm, which can meet the requirements of loading and unloading handling in forging production. Conclusions: The study provides a theoretical basis for the structure design and optimization of the light-weight cooperative robot.

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模块化六自由度轻型协同搬运机器人的设计与实现

背景:针对小型锻件生产过程中人工装卸作业环境差、劳动强度大的问题，设计了一种模块化6自由度轻型协同搬运机器人。结合计算机辅助设计方法，通过对实际运动情况的仿真，实现了模块化和轻量化设计。方法:对机器人的整体构型和模块化关节进行设计，利用Ansys软件对机器人整体及关键部件进行静力特性分析，验证结构设计的合理性。采用Denavit-Hartenberg参数法建立了机器人的运动学模型，通过正运动学仿真求解了机器人的工作空间。对实验样机进行了性能测试。利用激光跟踪仪测量机器人末端位置信息，分析重复定位精度。结果:结果表明，该机器人的重复定位精度为0.09mm，能够满足锻件生产中装卸搬运的要求。结论:本研究为轻型协作机器人的结构设计与优化提供了理论依据。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Cobot collaborative robots-

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期刊介绍： Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review. The scope of Cobot includes, but is not limited to: ● Intelligent robots ● Artificial intelligence ● Human-machine collaboration and integration ● Machine vision ● Intelligent sensing ● Smart materials ● Design, development and testing of collaborative robots ● Software for cobots ● Industrial applications of cobots ● Service applications of cobots ● Medical and health applications of cobots ● Educational applications of cobots As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.