Motion economy analysis for robotic kitting tasks

摘要

Motion economy principles for robots provide important design guidelines to optimize performance in robotic workcells. This work compares two different modes of motion through component part bins for a kitting task. By applying graphic simulation, an extensive analysis and evaluation was conducted for ten different robots in four classes and three group sizes for 27 different bin locations (positions and orientations). Several conclusive motion economy principles related to robot motions and workplace design were derived.