Browse > Article
http://dx.doi.org/10.5762/KAIS.2017.18.3.666

Kinematic and Structural Analysis of a 6-DOF Manipulator for Narrow-space Work  

Chung, Seong Youb (Department of Mechanical Engineering, Korea National University of Transportation)
Choi, Du-Soon (Department of Mechanical Engineering, Korea National University of Transportation)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.18, no.3, 2017 , pp. 666-672 More about this Journal
Abstract
Our research team is developing a 6-DOF manipulator for narrow workspaces in press forming processes, such as placing PEM nuts on the bottom of a chassis. In this paper, kinematic analysis was performed for the position control of the manipulator, along with structural analyses for position accuracy with different payloads. First, the Denavit-Hatenberg (DH) parameters are defined, and then the forward and backward kinematic equations are presented using the DH parameters. The kinematic model was verified by visual simulation using Coppelia Robotics' virtual robot experimentation platform (V-REP). Position accuracy analysis was performed through structural analyses of deflection due to self-weight and deflection under full payload (5 kgf) in fully opened and fully folded states. The maximum generated stress was 22.05 MPa in the link connecting axes 2 and 3, which was confirmed to be structurally safe when considering the materials of the parts.
Keywords
Kinematic Analysis; Structural Analysis; 6-DOF Manipulator; Narrow-space Work; Press Forming Process;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 J. H. Lee and T. J. Lho, "A study on design and structural strength analysis of positioner in robot overlay welding system of ball for ball-valve", Journal of the Korea Academia-Industrial cooperation Society, vol. 16, no. 3, pp. 1639-1644, 2015. DOI: http://dx.doi.org/10.5762/KAIS.2015.16.3.1639   DOI
2 V. Bargsten., P. Zometa and R. Findeisen, "Modeling, parameter identification and model-based control of a lightweight robotic manipulator", IEEE International Conference on Control Applications, pp. 134-139, 2013. DOI: http://dx.doi.org/10.1109/CCA.2013.6662756   DOI
3 M. Naumann. and M. Fechter., "Robots as enablers for changeability in assembly applications", 15th Internationales Stuttgarter Symposium: Springer Fachmedien Wiesbaden, pp. 1155-1171, 2015. DOI: https://doi.org/10.1007/978-3-658-08844-6_80   DOI
4 S. W. Kim and H. J. Kim, "A Study on Implementation of Special-Purpose Manipulator for Home Service Robot. Journal of the Korea Academia-Industrial cooperation Society, vol. 12, no. 11, pp. 5219-5226, 2011. DOI: http://dx.doi.org/10.5762/KAIS.2011.12.11.5219   DOI
5 J. Denabit. and R. S. Hartenberg., "A Kinematic Notation for Lower Pair Mechanisms Based on Matrices", ASME J. of Applied Mechanics, vol. 22, pp. 215-221, 1955.
6 L. Sciavicco and B. Siciliano, Modelling and control of robot manipulators, Springer Science & Business Media, pp. 41-46, 2012.
7 K. P. Hawkins., "Analytic inverse kinematics for the universal robots UR-5/UR-10 arms", Available From: https://smartech.gatech.edu/ handle/1853/50782. (accessed Sept., 5, 2016)