| Issue |
MATEC Web Conf.
Volume 78, 2016
2nd International Conference on Green Design and Manufacture 2016 (IConGDM 2016)
|
|
|---|---|---|
| Article Number | 01056 | |
| Number of page(s) | 8 | |
| DOI | https://doi.org/10.1051/matecconf/20167801056 | |
| Published online | 07 October 2016 | |
Increasing ABB FlexPicker Robot’s Degree of Freedom (DOF) using Flexible End Effector
1 Department of Robotics and Automation, Faculty of Manufacturing Engineering, Universiti Teknikal Malaysia Melaka (UTeM), Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
2 Center of Excellence Geopolymer and Green Technology (CEGeoGTech), Universiti Malaysia Perlis (UniMAP), 01000 Kangar, Perlis, Malaysia
3 School of Manufacturing Engineering, Universiti Malaysia Perlis (UniMAP), Pauh Putra Campus, 02600 Arau, Perlis, Malaysia
* Corresponding author: hisham@utem.edu.my
The commissioning of a high speed parallel robot such as the ABB Flexpicker Robot into the industrial environment provides greater flexibility in picking, packaging or palletizing tasks. However, current configuration of this robot only allows up to four-degree-of-freedom (DOF) which restricted its function to perform simple or complex automated assembly task. Therefore, the possibility of increasing one additional degree-of-freedom for the parallel robot was investigated. By attaching a flexible vacuum hose to the robot’s end effector, it can be controlled by using a servomotor that can manipulate its angle of suction up to 90 degrees. With this new configuration, one DOF has been introduced for this robot. Several tests had been conducted to evaluate the flexibility and performance of the end effector which includes varying loads and angles. From the analysis, it is found that the end-effector can lift weights up to 1kg due to sufficient vacuum pressure; however, it could perform bending up to 90 degrees for maximum load of 600 grams only.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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