Design and Development of 4-DOF Robot Manipulator with Intermediate Link Motions for Cycle Time Reduction in Automated Production

Md Al Fayshal Bin Shiraj Shuvo, Riady Siswoyo Jo, Hudyjaya Siswoyo Jo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this era of Industry 4.0, factories constantly aim to employ robots that provide for the best combination of payload capability and dexterity in order to improve the cycle time and therefore boosting productivity. This paper aims to provide an alternative solution to improve cycle time of a 4-DOF (degree-of-freedom) robot manipulator by harnessing intermediate link motions. The design and kinematic modelling of the robot manipulator are presented. The hardware setup and the robot operational mode are discussed. An experimental setup was developed based on the kinematic model to test the effectiveness of the proposed strategy. Experimental results show considerable reduction of cycle time in automated assembly process.

Original languageEnglish
Title of host publication2020 IEEE Symposium on Industrial Electronics and Applications 2020
PublisherIEEE
ISBN (Electronic)9781728166148
DOIs
Publication statusPublished - 9 Sep 2020
Event2020 IEEE Symposium on Industrial Electronics and Applications - TBD, Malaysia
Duration: 17 Jul 202018 Jul 2020

Conference

Conference2020 IEEE Symposium on Industrial Electronics and Applications
Abbreviated titleISIEA 2020
Country/TerritoryMalaysia
CityTBD
Period17/07/2018/07/20

Keywords

  • 4-DOF robot
  • Automated Assembly
  • Cycle time reduction
  • Intermediate Link Motions
  • Multiple end-effectors

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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