Design of dual arm robot manipulator for precision assembly of mechanical parts

Park, Chanhun; Park, Kyoung-Taik; Kim, Doohyung

doi:10.1109/icsma.2008.4505576

Cited by 17 publications

(10 citation statements)

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“…The number of rotor teeth of the HSM is given by 90 step length p°= (1) where p is the number of rotor teeth. The basic time domain equations for each phase of the HSM can be expressed as equations (2), (3) and 4:…”

Section: Table 1 Excitation Sequence For Clockwise Rotationmentioning

confidence: 99%

“…Pick-and-place operations, such as palletizing [1], are one of the many applications of robotic manipulators. They are often employed to increase productivity in a setting where tasks can be repetitive and laborious such as packaging [2] and assembly operations [2][3][4]. Application can also be in removing humans from hazardous work, such as the use of robotic arms in nuclear decommissioning tasks [5], and the increased level of intelligence integrated in some robotic arms of today means they can even work in collaboration with humans [6,7].…”

Section: Introductionmentioning

confidence: 99%

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Simulating the Arm Movements of a Stepper Motor Controlled Pick-and-Place Robot Using the Stepper Motor Model

Sharan¹,

Onwubolu²

2013

IJAST

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This paper describes the simulation of arm movements of a stepper motor controlled pickand-place robot using the mathematical model of a stepper motor. The model includes: a) a model of the stepper model driver board, b) a model of the hybrid stepper motor and load combination, and c) the interconnection of the two models which is used to simulate the motions of the base, shoulder, elbow, and wrist (pitch) motions of the pick-and-place robot. The model is simulated using Simulink and the results of angular displacement from the simulation and actual measurements show good uniformity.

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Section: Table 1 Excitation Sequence For Clockwise Rotationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simulating the Arm Movements of a Stepper Motor Controlled Pick-and-Place Robot Using the Stepper Motor Model

Sharan¹,

Onwubolu²

2013

IJAST

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“…In the previous research, the solid type dual arm robot like Figure 1 had been developed (Park, 2008). The dual arm robot developed in the previous research has the both arms of 6 degree of freedoms with the payload 20 kg, and the body (torso) of 2 degree of freedom.…”

Section: Design Of Dual Arm Robotmentioning

confidence: 99%

“…The dual arm robot is able to solve these problems (University of Texas at Austin, DLR, Yaskawa Co.). In the previous study, the dual arm robot with solid shafts had been developed as shown in Figure 1 (Park, 2008). The robot with solid shafts is easily implemented.…”

Section: Introductionmentioning

confidence: 99%

Development of Lightweight Dual Arm Robot by Using Hollow Shaft Servo Assembly

Park¹,

Go²,

Lee³

2010

Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics

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Studies on dual arm robots have been continually carried out because the robots provide human-like flexibility of movement. In previous study, the dual arm robot with solid shafts had been designed. However, the robot has some defects in its heavy weight and big shape. In this study, a hollow shaft servo assembly for lightweight robot arm has been developed. And then, the dual arm robot (AUTOMAN) has been designed using a hollow shaft servo assembly.

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Section: Iintroductionmentioning

confidence: 99%

Meccano Humanoid Robot(mhr18)

2018

IJRTER

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A humanoid robot is a robot with its body shape built to resemble the human body. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes. Here we are using CMOS technology which is Low-power, high-speed Flash/EEPROM technology. This project assumes only availability to help the people in hospitals and disaster. In the hardware section this project also introducing the accidental preventive measures to the system. Finally while comparing the existing robots this is having high durability, performance with low cost. From the comparison, we conclude that the MECCANO HUMANOID ROBOT is better suited for our society and will get the better feedback from people as well.

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Design of dual arm robot manipulator for precision assembly of mechanical parts

Cited by 17 publications

References 0 publications

Simulating the Arm Movements of a Stepper Motor Controlled Pick-and-Place Robot Using the Stepper Motor Model

Simulating the Arm Movements of a Stepper Motor Controlled Pick-and-Place Robot Using the Stepper Motor Model

Development of Lightweight Dual Arm Robot by Using Hollow Shaft Servo Assembly

Meccano Humanoid Robot(mhr18)

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