Design Analysis of an Industrial Robot under Development

摘要

The usage of robotics in industries and other areas has increased over the years. This has resulted in the increased demand and hence a need for their availability in India. In this paper, the design analysis of an indigenous industrial robot under development is reported. Based on the workspace requirements, sizes of the motors, gearboxes, etc., CAD model of a 6kg payload robot was developed. Its geometric parameters required for the kinematic analysis were determined and thereafter the CAD model of the robot was imported in RoboAnalyzer software. Cartesian motion for the end-effector for a typical pick and place operation was provided as input in RoboAnalyzer and the corresponding joint trajectories were obtained. These joint trajectories were then used as custom input in Autodesk Inventor and inverse dynamics analysis was performed to determine maximum torque at each joint, which helps in the selection of motor and gearbox. Further, the robot links were subjected to stress analysis and the components were tested to be safe. Thereafter the components were fabricated and assembled to obtain a physical prototype of the robot. The steps reported in this paper can be used in the design and verification of a serial robot, developed by individuals and industries.