research-article

Design Analysis of an Industrial Robot under Development

Authors:

Thejas S. S.,

Rajeevlochana G. Chittawadigi,

Prasanth S.,

Balaji Sah,

Sairaman S.Authors Info & Claims

AIR '19: Proceedings of the 2019 4th International Conference on Advances in Robotics

Article No.: 18, Pages 1 - 6

https://doi.org/10.1145/3352593.3352612

Published: 27 January 2020 Publication History

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Abstract

The usage of robotics in industries and other areas has increased over the years. This has resulted in the increased demand and hence a need for their availability in India. In this paper, the design analysis of an indigenous industrial robot under development is reported. Based on the workspace requirements, sizes of the motors, gearboxes, etc., CAD model of a 6kg payload robot was developed. Its geometric parameters required for the kinematic analysis were determined and thereafter the CAD model of the robot was imported in RoboAnalyzer software. Cartesian motion for the end-effector for a typical pick and place operation was provided as input in RoboAnalyzer and the corresponding joint trajectories were obtained. These joint trajectories were then used as custom input in Autodesk Inventor and inverse dynamics analysis was performed to determine maximum torque at each joint, which helps in the selection of motor and gearbox. Further, the robot links were subjected to stress analysis and the components were tested to be safe. Thereafter the components were fabricated and assembled to obtain a physical prototype of the robot. The steps reported in this paper can be used in the design and verification of a serial robot, developed by individuals and industries.

References

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S. K. Saha, 2014, Introduction to Robotics (2nd Edition), Tata McGraw Hill Publications, New Delhi, India.

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E. I. Rivin, 1987, Mechanical Design of Robots, Mc Graw Hill Publications, New York, USA.

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L-W. Tsai, 1999, Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators, John Wiley Publications, New York, USA.

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C. G. Rajeevlochana, S. K. Saha and S. Kumar, 2012, Automatic Extraction of DH Parameters of Serial Manipulators using Line Geometry, The 2nd Joint International Conference on Multibody System Dynamics.

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A. Patwardhan, A. Prakash and R. G. Chittawadigi, 2018, Kinematic Analysis and Development of Simulation Software for Nex Dexter Robotic Manipulator, International Conference on Robotics and Smart Manufacturing, Procedia Computer Science 133 (1), pp. 660--667.

Crossref

Google Scholar

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R. O. M. Sadanand, R. G. Chittawadigi and S. K. Saha, 2013, Virtual Robots in RoboAnalyzer Software, The 1st International & 16th National Conference on Machines and Mechanisms.

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Cited By

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Chittawadigi R(2024)Effective Visualization and Validation of Motion of a Mechanical System Using Application Programming Interface of a CAD SoftwareRecent Advances in Machines, Mechanisms, Materials and Design10.1007/978-981-97-5423-6_66(823-834)Online publication date: 6-Oct-2024
https://doi.org/10.1007/978-981-97-5423-6_66
Ravuri PYenikapati TB ML EP P(2021)Design and Simulation of Medical Assistance Robot for combating COVID-192021 6th International Conference on Communication and Electronics Systems (ICCES)10.1109/ICCES51350.2021.9488940(1548-1553)Online publication date: 8-Jul-2021
https://doi.org/10.1109/ICCES51350.2021.9488940
Veeramani SMuthuswamy S(2021)Hybrid type multi-robot path planning of a serial manipulator and SwarmItFIX robots in sheet metal milling processComplex & Intelligent Systems10.1007/s40747-021-00499-38:4(2937-2954)Online publication date: 28-Aug-2021
https://doi.org/10.1007/s40747-021-00499-3

Index Terms

Design Analysis of an Industrial Robot under Development
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
    2. Sensors and actuators

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Information

Published In

AIR '19: Proceedings of the 2019 4th International Conference on Advances in Robotics

July 2019

423 pages

ISBN:9781450366502

DOI:10.1145/3352593

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IITM: Indian Institute of Technology, Madras

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 27 January 2020

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AIR 2019

AIR 2019: Advances in Robotics 2019

July 2 - 6, 2019

Chennai, India

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AIR '19 Paper Acceptance Rate 69 of 140 submissions, 49%;

Overall Acceptance Rate 69 of 140 submissions, 49%

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Chittawadigi R(2024)Effective Visualization and Validation of Motion of a Mechanical System Using Application Programming Interface of a CAD SoftwareRecent Advances in Machines, Mechanisms, Materials and Design10.1007/978-981-97-5423-6_66(823-834)Online publication date: 6-Oct-2024
https://doi.org/10.1007/978-981-97-5423-6_66
Ravuri PYenikapati TB ML EP P(2021)Design and Simulation of Medical Assistance Robot for combating COVID-192021 6th International Conference on Communication and Electronics Systems (ICCES)10.1109/ICCES51350.2021.9488940(1548-1553)Online publication date: 8-Jul-2021
https://doi.org/10.1109/ICCES51350.2021.9488940
Veeramani SMuthuswamy S(2021)Hybrid type multi-robot path planning of a serial manipulator and SwarmItFIX robots in sheet metal milling processComplex & Intelligent Systems10.1007/s40747-021-00499-38:4(2937-2954)Online publication date: 28-Aug-2021
https://doi.org/10.1007/s40747-021-00499-3

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Recommendations

Transformative CAD based industrial robot program generation

Development of CAM system based on industrial robotic servo controller without using robot language

Research on kinematics simulation of industrial robot based on MATLAB