A lightweight robot for motion planning in industrial settings

Kinematically redundant industrial robot has been used extensively in the industry due to its flexibility, dexterity and productivity. Yet, the complexity of motion planning for the robot remains a major hurdle preventing small and median enterprises (SMEs) from enjoying its benefits. This is brough...

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Main Author: Long, Zhaowen
Other Authors: Domenico Campolo
Format: Final Year Project
Language:English
Published: 2015
Subjects:
Online Access:http://hdl.handle.net/10356/64560
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-645602023-03-04T18:17:42Z A lightweight robot for motion planning in industrial settings Long, Zhaowen Domenico Campolo School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering::Mechanical engineering::Robots Kinematically redundant industrial robot has been used extensively in the industry due to its flexibility, dexterity and productivity. Yet, the complexity of motion planning for the robot remains a major hurdle preventing small and median enterprises (SMEs) from enjoying its benefits. This is brought about by motor redundancy and motion repeatability issues. Two main methods are developed in the industry, which actively specify each join’s motion. The teaching pendant method is tedious and is highly reliant on the skill level of the operator, whereas the software in software programming method remains unaffordable to most SMEs. This project addresses the aforementioned issues with the visco-elastic Passive Motion Paradigm (PMP) framework. Joint motions in the robot are produced in a passive, unique and non-repeatable manner, upon dragging the robot end effector to reach an intended goal. To implement the visco-elastic PMP framework in a mechanical device, linear elastic bands are used at the joints, such that the stiffness and the equilibrium configuration of the joints can be modulated by the number and the position of the elastic bands respectively. In this report, the mechanical design specifications for a lightweight motion planning robot are formulated. Different stages of the design are demonstrated, from proof of concept models to different versions of the design. A physical model is built according to the final design of the motion planner. Troubleshooting of the model is carried out, including design analysis, modification and friction characterization. At the end of the project, conclusion and future work are presented. Bachelor of Engineering (Mechanical Engineering) 2015-05-28T04:45:07Z 2015-05-28T04:45:07Z 2015 Final Year Project (FYP) http://hdl.handle.net/10356/64560 en Nanyang Technological University 71 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle DRNTU::Engineering::Mechanical engineering::Robots
Long, Zhaowen
A lightweight robot for motion planning in industrial settings
description Kinematically redundant industrial robot has been used extensively in the industry due to its flexibility, dexterity and productivity. Yet, the complexity of motion planning for the robot remains a major hurdle preventing small and median enterprises (SMEs) from enjoying its benefits. This is brought about by motor redundancy and motion repeatability issues. Two main methods are developed in the industry, which actively specify each join’s motion. The teaching pendant method is tedious and is highly reliant on the skill level of the operator, whereas the software in software programming method remains unaffordable to most SMEs. This project addresses the aforementioned issues with the visco-elastic Passive Motion Paradigm (PMP) framework. Joint motions in the robot are produced in a passive, unique and non-repeatable manner, upon dragging the robot end effector to reach an intended goal. To implement the visco-elastic PMP framework in a mechanical device, linear elastic bands are used at the joints, such that the stiffness and the equilibrium configuration of the joints can be modulated by the number and the position of the elastic bands respectively. In this report, the mechanical design specifications for a lightweight motion planning robot are formulated. Different stages of the design are demonstrated, from proof of concept models to different versions of the design. A physical model is built according to the final design of the motion planner. Troubleshooting of the model is carried out, including design analysis, modification and friction characterization. At the end of the project, conclusion and future work are presented.
author2 Domenico Campolo
author_facet Domenico Campolo
Long, Zhaowen
format Final Year Project
author Long, Zhaowen
author_sort Long, Zhaowen
title A lightweight robot for motion planning in industrial settings
title_short A lightweight robot for motion planning in industrial settings
title_full A lightweight robot for motion planning in industrial settings
title_fullStr A lightweight robot for motion planning in industrial settings
title_full_unstemmed A lightweight robot for motion planning in industrial settings
title_sort lightweight robot for motion planning in industrial settings
publishDate 2015
url http://hdl.handle.net/10356/64560
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