AN EXPERIMENTAL APPROACH TO IMPROVING THE JOINT STIFFNESS OF INDUSTRIAL ROBOTS THROUGH DEXTEROUS POSTURE IDENTIFICATION

Authors

  • Akshay Pradeep Singh University of KwaZulu-Natal, Howard College https://orcid.org/0000-0003-4594-8922
  • Jared Padayachee University of KwaZulu-Natal, Howard College
  • Glen Bright University of KwaZulu-Natal, Howard College

DOI:

https://doi.org/10.7166/32-4-2590

Keywords:

posture optimisation, manipulator stiffness, dexterous workspace, virtual joint method

Abstract

Improving a robot’s posture enables it to perform with greater accuracy and repeatability. A stiffer posture also protects the robot from unnecessary vibrations and deflections that may be induced by an applied load. This paper presents a method for choosing high stiffness robot postures. The method is demonstrated on a six-degree-of-freedom Fanuc M10-iA serial manipulator. The posture identification and stiffness modelling were achieved by a reliable and cost-effective alternative to deflection measurement using IEPE accelerometers.

Downloads

Download data is not yet available.

Author Biographies

Akshay Pradeep Singh, University of KwaZulu-Natal, Howard College

Department of Mechanical Engineering - Mechatronics and Robotics Research Group (MR2G)

Jared Padayachee, University of KwaZulu-Natal, Howard College

Department of Mechanical Engineering - Mechatronics and Roboitcs Research Group (MR2G)

Glen Bright, University of KwaZulu-Natal, Howard College

Department of Mechanical Engineering - Mechatronics and Robotics Research Group (MR2G)

Downloads

Published

2021-12-14

How to Cite

Singh, A. P., Padayachee, J., & Bright, G. (2021). AN EXPERIMENTAL APPROACH TO IMPROVING THE JOINT STIFFNESS OF INDUSTRIAL ROBOTS THROUGH DEXTEROUS POSTURE IDENTIFICATION. The South African Journal of Industrial Engineering, 32(4), 113–128. https://doi.org/10.7166/32-4-2590

Issue

Vol. 32 No. 4 (2021)

Section

General Articles

License

Authors who publish in the Journal agree to the following terms:
  1. Authors retain copyright and grant the Journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this Journal.
  2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the Journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this Journal.

Most read articles by the same author(s)

1 2 > >>