Collaborative Robots(Cobots)-Systematization and Kinematics

Authors

  • Ionel Staretu ”Transilvania” University of Brasov, Brasov, Romania

Keywords:

robotic arm, human arm, collaborative robot, direct kinematics, inverse kinematics

Abstract

The robotic arms of the human arm type, so-called collaborative robots or cobots, have been improved, optimized and diversified greatly in recent years. However, most of them are still equipped with mechanical grippers with pliers-like jaws. The paper presents the significant variants of collaborative robots now on the market, highlighting specific independent movements. It is shown and exemplified that solving direct and inverse kinematic analysis of these robots can be done with the method of homogeneous operators. It is recommended to equip these robots with anthropomorphic finger grips in order to obtain a maximum efficiency of their use.

References

Robots your guide to the world of robotics. Available online: https://robots.ieee.org/robots/wam/ (accessed on 24 August 2020).

Automation Distribution!. Available online: https://automationdistribution.com/universal-robotsur10-collaborative-industrial-robot-arm/ (accessed on 26 August 2020).

Generation Robots. Available online: https://www.generationrobots.com/en/403413-doosan-m1013-robotic-arm.html (accessed on 20 June 2020).

Made - in - China. Available online: https://www.made-in-china.com/showroom/hansrobot/product-detailoCKEAfvTEScF/China-6-Axis-Universal-Robot-for-Pick-and-Place-Competitor-Price.html (accessed on 20 June 2020).

ROZUM ROBOTICS. Available online: https://www.f6s.com/rozumrobotics (accessed on 26 August 2020).

LAURENS, A., KHORAMSHAHI, M., BILLARD, A., Adaptive Human-Robot Interaction: From Human Intention to Motion Adaptation Using Parameterized Dynamical Systems, Technical report, Ecole Polytechnique Federal de Lausanne, 2018.

igus plastics for longer life. Available online: https://www.igus.ro/info/news-2018-20852 (accessed on 24 June 2020).

TIME-BEST INVATION 2018. Available online: https://time.com/collection/best-inventions-2018/5454734/panda/ (accessed on 24 June 2020).

DUDITA, Fl., DIACONESCU, D., GOGU, Gr., Linkages mechanisms (in Romanian). Bucharest, Romania, 1989.

STARETU, I., The Structure, Work Space and Direct Kinematic of the Robots with 8 Axes of Type T Normal R Parallel (PM)(OM), Applied Mechanics and Materials, 658, pp. 718-23, 2014.

Published

2021-01-18