his work reports the development of a handling robot arm model for industrial application, modelled as a five links with 5 Degree of freedom (DOF), using SimMechanics and SolidWorks as tools for designing and testing motion characteristics. To improve the speed performance of the mechanical system, it is designed a high speed proportional integral derivative (HSPID) controller based modified Genetic Algorithm (MGA).The paper presents a comparison between the controlled and uncontrolled systems in terms of response time characteristics rise time(tr), settling time(ts), and peak overshoot(PoS).The controller module resulted improved response time ratio (IMRTR) for shoulder, lower arm, upper arm, and wrist in terms of rise time(tr) by 1850, 17280, 20701, 13753 respectively, and settling time(ts) by121, 755, 879, 950. The efficiency of the method is confirmed by a case study, which is relating to trajectory planning. The main added value of the study is the elaboration and implementation of the new industrial robot to reduce cycle times significantly, by improving the reduction of response time characteristics. The innovative design offering the best solution to increase productivity with accurate performance to perform various tasks such as pick and place and assembly.
2nd Mosharaka International Conference on Emerging Applications of Electrical Engineering (MIC-ElectricApps 2021)
Congress
2021 Global Congress on Electrical Engineering (GC-ElecEng 2021), 10-12 December 2021, Valencia, Spain
Pages
52-61
Topics
Robot Design and Control Evolutional Robotics
ISSN
2227-331X
DOI
BibTeX
@inproceedings{1176ElecEng2021,
title={Modelling High speed Robotic Arm for Industrial Applications},
author={Falih Alkhafaji},
booktitle={2021 Global Congress on Electrical Engineering (GC-ElecEng 2021)},
year={2021},
pages={52-61},
doi={}},
organization={Mosharaka for Research and Studies}
}
