TY - GEN
T1 - WORKSPACE SPECIFIC ROBOT ARM DESIGN
AU - Parhofer, Christoph A.W.
AU - Pancheri, Felix
AU - Rehekampff, Christoph
AU - Lueth, Tim
N1 - Publisher Copyright:
© 2023 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 2023
Y1 - 2023
N2 - In this paper, a new design method for serial robot arms is presented. The method aims to reduce the number of joints by customizing the connecting shape of a robot arm between its joints. For that, the classically straight shape of a robot arm is redesigned, depending on the workspace with its obstacles, the motion path and the location of the robot base. The focus of this work is the automated customization of such arms in MATLAB, by designing individual extrusion splines for each arm, in each environment. The design methodology is exemplarily implemented and validated on an in-house developed 4-DoF robot arm in different workspaces. For this purpose, the originally straight arm structures of the 4-DoF robot arm between the 2nd and 3rd joint as well as the 3rd and 4th joint are removed and replaced by the reshaped arm structures. To easily produce and change the arms in each environment at low cost FDM printing and snap fittings for the arm connections are used. Two examples of such reshaped arms are shown in this work for validation.
AB - In this paper, a new design method for serial robot arms is presented. The method aims to reduce the number of joints by customizing the connecting shape of a robot arm between its joints. For that, the classically straight shape of a robot arm is redesigned, depending on the workspace with its obstacles, the motion path and the location of the robot base. The focus of this work is the automated customization of such arms in MATLAB, by designing individual extrusion splines for each arm, in each environment. The design methodology is exemplarily implemented and validated on an in-house developed 4-DoF robot arm in different workspaces. For this purpose, the originally straight arm structures of the 4-DoF robot arm between the 2nd and 3rd joint as well as the 3rd and 4th joint are removed and replaced by the reshaped arm structures. To easily produce and change the arms in each environment at low cost FDM printing and snap fittings for the arm connections are used. Two examples of such reshaped arms are shown in this work for validation.
UR - https://www.scopus.com/pages/publications/85185562538
U2 - 10.1115/IMECE2023-113461
DO - 10.1115/IMECE2023-113461
M3 - Conference contribution
AN - SCOPUS:85185562538
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Advanced Design and Information Technologies
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023
Y2 - 29 October 2023 through 2 November 2023
ER -