DocumentCode :
2849262
Title :
Design of the end-effector tool attachment for robot arm with multiple reconfigurable goals
Author :
Gueta, Lounell B. ; Chiba, Ryosuke ; Arai, Tamio ; Ueyama, Tsuyoshi ; Ota, Jun
Author_Institution :
Dept. of Precision Eng., Univ. of Tokyo, Tokyo
fYear :
2008
fDate :
23-26 Aug. 2008
Firstpage :
876
Lastpage :
881
Abstract :
A custom-made robot arm that is specially designed for a given task is better than a general-purpose robot arm based on the performance index it is designed for. In industries, however, a general-purpose robot arm is prevalently used since it can perform over several and varying tasks. Because of this, a custom-made robot arm becomes impractical due to its high fabrication cost. In this study, we propose the design of tool attachment as a cost-effective and alternative method for improving the performance of a general-purpose robot arm. Wherein, the task completion time is the performance index in designing the tool attachment. A tool attachment, a passive linkage attached between the end-effector of robot arm and tool, is customized for a given task. We showed that the proposed method is effective by employing it in a task with multiple reconfigurable goals, or goals that can be rearranged and can be positioned by a table.
Keywords :
control system synthesis; end effectors; industrial manipulators; minimisation; custom-made robot arm; end-effector tool attachment design; general-purpose robot arm; multiple reconfigurable goal; performance index; task completion time minimization; Costs; Couplings; Defense industry; Delay effects; Fabrication; Manipulators; Motion planning; Orbital robotics; Robotics and automation; Service robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation Science and Engineering, 2008. CASE 2008. IEEE International Conference on
Conference_Location :
Arlington, VA
Print_ISBN :
978-1-4244-2022-3
Electronic_ISBN :
978-1-4244-2023-0
Type :
conf
DOI :
10.1109/COASE.2008.4626570
Filename :
4626570
Link To Document :
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