Manufacturing Technology Today

M. Santhakumar ¹, A. P. Sudheer ², P. K. Jayadev ³

Affiliations
1 Bannari Amman Institute of Technology, Sathyamangalam, IN
2 National Institute of Technology, Kerala, IN
3 Govt. College of Technology, Coimbatore, IN

Abstract

Mainly in all manufacturing and assembly operations, robot performance is important in productivity and quality point of view. Better performance is achieved only through proper design and optimum path planning. This paper proposes a fitness function and Genetic Algorithm (GA) to generate optimum path for SCORA ER 14 robotic manipulator for an assembly operations. Main objective of this work is to improve the productivity with respect to the constraints such as positions, velocities and accelerations. This article also presents arm joint utilization, various joint trajectories and comparison of joint movements for different links with different paths based on simulation results.

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P. K. Jayadev ¹, Shanmugha Sundaram ², A. P. Sudheer ³, M. Santhakumar ⁴

Affiliations
1 Government College of Technology, Coimbatore, IN
2 Hindustan College of Engineering, Coimbatore, IN
3 College of Engineering, Chengannur, Kerala, IN
4 Manufacturing Engg., Government College of Technology, Coimbatore, IN

Abstract

Kinematic analysis represents an important tool for the functional design of robotic applications. It facilitates the determination of layout arrangements for the production cell, the selection of suitable machines and equipments, the design of task specifications and robot paths and the performance of all the tasks required by the new robot manipulators. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure. This paper deals with the modeling of robot by using Denavit-Hartenberg parameters and solving for joint angles and tool tip pose by means of Robotic toolbox for MATLAB. The joint angles are considered for trajectory planning by using interpolation function. Robot used in this work is the ABB IRB 7600-400/2.55, a vertically articulated robot for pay load 400kg.

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