The design and manufacture of a low cost, six axis, industrial robot

Show simple item record

dc.contributor.advisor Rathmill, K. McMaster , Robert S 2016-08-11T11:33:53Z 2016-08-11T11:33:53Z 1985-01
dc.description.abstract The aim of the work presented in this thesis is to investigate the feasibility of producing a low cost, 6 axis, Industrial Robot. The formulation of a design specification based on market trends is shown, and used as a starting point for formal design analysis. A robot conceptual design based on two, series coupled, triangular link mechanisms was devised, following a detailed analysis of various kinematic mechanisms. The purpose of the mechanisms analysis was to find a low cost, inherently stiff, means of driving the robot main axes; in particular, the shoulder and elbow joints. By adopting the novel concept of a hand and wrist mechanism, a "true 3 axes" wrist was devised. A unique feature of this is that the roll, pitch and yaw axes form an orthogonal set with the origin at the wrist point. Although emphasis is placed on the robot mechanical design, a Servo amplifier system, suitable for driving all 6 axes of the robot is presented, and recommendations for a position control system are given. Finally, costs relating to the robot mechanical system, Servo amplifier system and Position control system were investigated. The variation in cost with robot volume is shown for each of the 3 systems. This indicates that a manufacturing cost of E9000 per robot can be achieved providing at least 150 robots are produced. The following papers have been published by the author in connection with this work: (i) The Development and Design of a Low Cost Assembly Robot, Proceedings of the 7th B.R.A. Annual Conference, May 1984. pp 171-182. (ii) Overview of Robotic Manufacture Worldwide, Seminar "Exploiting robot in arc welding fabrication", The Welding Institute, Cambridge, Nov. 1984. pp 1-7 en_UK
dc.language.iso en en_UK
dc.publisher Cranfield University en_UK
dc.rights © Cranfield University, 1985. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright holder. en_UK
dc.title The design and manufacture of a low cost, six axis, industrial robot en_UK
dc.type Thesis or dissertation en_UK
dc.type.qualificationlevel Doctoral en_UK
dc.type.qualificationname PhD en_UK

Files in this item

This item appears in the following Collection(s)

Show simple item record

Search CERES


My Account