Kinematic Analysis of Robotic Arm Made with FRP Tubes for Material Transferring in Conveyors
Keywords:
Transient structural, Taguchi parameters, DOE, 1DOF, Kinematics, Deformation.Abstract
In order to avoid backlash disturbances, a conveyor control mechanism requires robotic path optimization with repeated cycle times. Using a magnetic gripper, this robotic manipulator moves raw steel materials from one conveyor to another. The present design uses a filament wound CFRP-Aluminum tube with 1.5mm thick layer. The actual arm deflection was analyzed with Taguchi DOE by selecting different parameters. Weights of 30 kg, 45 kg, and 60 kg were tested with 8,10,12 seconds of time for 100, 150, and 200 cycles with varying angular momentum. In terms of angular velocity, the span was 942.5mm, and the velocity was 8, 10, 12 mm/s, respectively. Our transient structural analysis used z-vector rotation as the rotation degree of freedom. Optimized parameters were compared against aluminium and GFRP wounded tube replacements using the 1DOF model. A 45kg load with 12 seconds of time and 7.88mm/s of travel time provided better results. CFRP shows a variation of 0.2mm in deformation after 150 cycles of rotation, while alumina shows a variation of 0.45mm and GFRP shows a variation of 0.8mm.
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