Methodology for performance assessment of industrial robots

Résumé fourni par la source

The study of industrial robots is particularly interesting in view of the many advantages that these robots offer in the production line. This paper aims to study manipulator arms in order to better understand the performance of manipulator arms. The recurring issue for the manipulator arms remains the analysis of their operating path patterns in a well-defined working space. We propose a methodology based, on the one hand, on the definition of the functional specifications of manipulator arms necessary for design and on the other hand, on the geometric modelling and control of these manipulator arms in Matlab/Simulink. The model thus constructed is capable of reproducing different trajectory configurations depending on the joint variables in a well-defined working space. The results of our model are consistent with those provided by the mathematical model using the Denavit-Hartenberg convention. According to two scenarios, the analysis of the trajectories of the manipulator arms’s end effector is carried out and especially on the SCARA, cartesian and spherical robots. This analysis generally reveals elliptic trajectories or lines described by the end effector of robots in relation to the plane linked to their base.