project specification

Ultra-light industrial robot

A lightweight robot using lightweight materials such as aluminum and carbon fiber. The robot arm resembles a human arm in several ways. It consists of a forearm, an upper arm and a wrist, and is standing on a base or foot. This concept has a thin wrist, with smooth passages for cables to run through keeping costs down. When counting axes, you start from the base with axis one, and end up with the tip of the wrist which is axis six. Axes 1, 4, 6 (yellow) are rotation axes, and 2, 3, 5 (red) are bending axes. The design is based on existing ABB robots (IRB 2400 and IRB 2600), and inherits some of their specifications.

Specifications

Reach1,65 m
Payload12 kg
Armload15 kg (will not be tested in the thesis)
Number of axes6
Robot weightMax 60 kg
Upper arm weightMax 15 kg

Overview

The robot arm resembles a human arm in several ways. It consists of a forearm, an upper arm and a wrist, and is standing on a base or foot. This concept has a thin wrist, with smooth passages for cables to run through keeping costs down. When counting axes, you start from the base with axis one, and end up with the tip of the wrist which is axis six. Axes 1, 4, 6 (yellow) are rotation axes, and 2, 3, 5 (red) are bending axes.

The design is based on existing ABB robots (IRB 2400 and IRB 2600), and inherits some of their specifications.

References

Paper authors; André Jaber. 20 Januari 201.

Wevolver 2022