Page 21 - AMTDC Annual Report 2019-20flipbook

After finalization of motors and torque
multipliers / gearboxes, the assembly of prototype
has been completed. This assembled manipulator has
to be powered and a control system for programming
and control of robot is selected based on the drive In-house Design &
systems and configuration of the robot. Development
For the 10kg robot, while considering the choice
of torque multipliers, an attempt has been made to Though the design and development
build a gear box with conventional gear trains. A of an industrial robot has been well
conventional gear box is developed with exact established, the mandate to keep the cost
transmission ratio as that of a pre-assembled torque of the robots affordable involved revisiting
multiplier. Conventional drive with backlash
adjustment system is observed to perform on par with the well laid out procedures of robot
the pre-assembled torque multipliers, however needs design and development. A four-stage
more field trials to ascertain their reliability and sequential approach has been followed.
longevity in operation.

After the completion of assembly of robot,
interfacing with EtherCAT controller is done following Optimization of Link Length
a proper communication protocol between control
elements to obtain multi-axis coordinated motion of
the joints to achieve a certain pose/ orientation/ path. Estimation of drive torque
The fully assembled robot has been mounted over a
mobile base in order to utilize the robot for tending
different machine tools. In-house Fabrication
The testing and calibration of both the robots
have been performed based on international Prototype Assembly, Testing &
standards. ISO 9283-1998 has been adopted to Analysis
evaluate the performance of both robots. Being
developed for machine tending application, the pose
accuracy of both robots, as per standard, has been
certified by a third-party testing agency. 6kg robot
provides a pose accuracy of around 75 µm, while the
pose accuracy of 10kg robots is around 90 µm.

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AMTDC Annual Report | 2019-20