Simulated Energy Usage for a Novel 6 DOF Articulated Robot

27th International Conference on CADCAM, Robotics and Factories of the Future 2014

工业技术;机械制造

Shaik, A.A.^1 ; Tlale, N.^2 ; Bright, G.^3

Council for Scientific and Industrial Research, Pretoria, South Africa^1

Anglo American, Pretoria, South Africa^2

University of Kwa-Zulu Natal, Durban, South Africa^3

关键词: 6-dof robots;    Articulated robots;    Energy requirements;    Energy usage;    Hybrid machine;    Mathematical modelling and simulation;    Moment arms;    Serial robots;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/65/1/012006/pdf
DOI  :  10.1088/1757-899X/65/1/012006

学科分类：工业工程学

来源: IOP

【 摘 要 】

The serial robot architecture is widespread in modern day manufacturing, and over the last few decades the technology has matured and settled to its current state. One drawback from the architecture however is the location of motors and gearboxes which are either at the joint it controls or close by. A novel hybrid 6 DOF robot was designed to move all the actuators to the robot base, and to control the desired axis through a set of connected links and gears, while maintaining the same workspace and dexterity. This would reduce the inertia of the movable part of the robot and some of the moment arms on the 3 axes required for translation of the 3 DOF spherical wrist. Doing so would decrease the energy requirements when compared to a 6 DOF serial robot. This paper focuses on the mathematical modelling and simulation of the novel hybrid machine design and compares it to an equivalent serial robot.