THE MODELING OF A SIX DEGREE-OF-FREEDOM INDUSTRIAL ROBOT FOR THE PURPOSE OF EFFICIENT PATH PLANNING
Open Access
Author:
Carter, Tyler James
Graduate Program:
Industrial Engineering
Degree:
Master of Science
Document Type:
Master Thesis
Date of Defense:
None
Committee Members:
Richard Allen Wysk, Thesis Advisor/Co-Advisor Richard Allen Wysk, Thesis Advisor/Co-Advisor
Keywords:
industrial robot path efficiency energy consumption travel distance process time
Abstract:
In order to compete globally, most manufacturers are looking for ways to reduce costs and, at the same time, are facing increasing demands to become environmentally responsible. One method to achieving both goals is to find ways to maximize process efficiency. In this research, robotic paths of various geometries are examined in order to determine the paths of lowest energy consumption, traveling distance, and process time. The paths are designed to meet the goals of a simple hypothetical scenario, requiring the robot to move from a specific start position to an end position while circumventing an obstacle. The various geometries include triangular, square, rectangular, semi-circular, and a fourth degree polynomial. Each path geometry is tested under two cases: one where the path moves strictly horizontal, while the other allows for vertical movement.
Several observations are discussed regarding the various paths and points of interest regarding variables such as torque or energy consumption. For the robot modeled in this work, it is shown that of all the paths examined, the horizontal triangular path geometry has the shortest traveling time, shortest traveling distance, and consumes the least amount of energy.
