| Summary: | The aim of the work presented in this thesis is to investigate the
feasibility of producing a low cost, 6 axis, Industrial Robot.
The formulation of a design specification based on market trends is
shown, and used as a starting point for formal design analysis.
A robot conceptual design based on two, series coupled, triangular link
mechanisms was devised, following a detailed analysis of various
kinematic mechanisms. The purpose of the mechanisms analysis was to
find a low cost, inherently stiff, means of driving the robot main axes;
in
particular, the shoulder and elbow joints.
By adopting the novel concept of a hand and wrist mechanism, a "true
3 axes" wrist was devised. A unique feature of this is that the roll,
pitch and yaw axes form an orthogonal set with the origin at the wrist
point.
Although emphasis is placed on the robot mechanical design, a Servo
amplifier system, suitable for driving all 6 axes of the robot is
presented, and recommendations for a position control system are
given.
Finally, costs relating to the robot mechanical system, Servo amplifier
system and Position control system were investigated. The variation in
cost with robot volume is shown for each of the 3
systems. This
indicates that a
manufacturing cost of E9000 per robot can be achieved
providing at least 150 robots are produced.
The following papers have been published by the author in connection
with this work:
(i) The Development and Design of a Low Cost Assembly Robot,
Proceedings of the 7th B.R.A. Annual Conference, May 1984.
pp 171-182.
(ii) Overview of Robotic Manufacture Worldwide, Seminar
"Exploiting robot in arc welding fabrication", The Welding
Institute, Cambridge, Nov. 1984. pp 1-7
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