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.

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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)

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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

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