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Configuration support and kinematics for a reconfigurable Gantry-Tau manipulator

Dressler, Isolde LU ; Haage, Mathias LU ; Nilsson, Klas LU ; Johansson, Rolf LU ; Robertsson, Anders LU and Brogardh, T. (2007) IEEE International Conference on Robotics and Automation, 2007 In 2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D) p.2957-2962
Abstract
Affordable and competitive industrial automation is of key importance for small and medium enterprises, in Europe and elsewhere. A key factor is the introduction of new robot automation concepts that ease fast deployment and extend available task repertoire. The Gantry-Tau manipulator is a new robot concept. In contrast to other parallel kinematic manipulators (PKMs), it has a large working range. The high stiffness makes it ideal for a wide range of tasks such as grinding, deburring, and cutting. An additional aspect of such a PKM is the modularity, which in this work has been studied in terms of possibilities for assembly and mechanical reconfiguration at the end-user site, integration of such a kinematically different robot with a... (More)
Affordable and competitive industrial automation is of key importance for small and medium enterprises, in Europe and elsewhere. A key factor is the introduction of new robot automation concepts that ease fast deployment and extend available task repertoire. The Gantry-Tau manipulator is a new robot concept. In contrast to other parallel kinematic manipulators (PKMs), it has a large working range. The high stiffness makes it ideal for a wide range of tasks such as grinding, deburring, and cutting. An additional aspect of such a PKM is the modularity, which in this work has been studied in terms of possibilities for assembly and mechanical reconfiguration at the end-user site, integration of such a kinematically different robot with a standard industrial controller, and new needs for methods/tools to support simple (re)configuration. What is needed for fully utilizing the modularity of the concept in typical SME manufacturing scenarios? A range of software tools and methods were found to be useful and necessary for efficient engineering and integration. For experimental evaluation, a full-scale prototype robot was designed and built, the kinematic software was developed and integrated into the ABB kinematics software, robot CAD software was adapted to the configuration needs, and both simulations and physical experiments were carried out. Our findings make us believe that enhanced software tools should be integrated on a higher symbolic (or meta-) level to better support transformation of data and code generation, but also that the Gantry-Tau type of robot (with adequate software support) will bring a new dimension of flexibility into SME manufacturing. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
robot CAD software, SME manufacturing, robot automation, reconfigurable Gantry-Tau manipulator, ABB kinematics software, parallel kinematic manipulators
in
2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2007
external identifiers
  • wos:000250915302158
  • scopus:36349029104
DOI
10.1109/ROBOT.2007.363921
language
English
LU publication?
yes
id
194127db-a272-4cd9-8ef2-c9c6c322bcf7 (old id 643351)
date added to LUP
2007-12-04 14:30:51
date last changed
2017-02-19 04:32:08
@inproceedings{194127db-a272-4cd9-8ef2-c9c6c322bcf7,
  abstract     = {Affordable and competitive industrial automation is of key importance for small and medium enterprises, in Europe and elsewhere. A key factor is the introduction of new robot automation concepts that ease fast deployment and extend available task repertoire. The Gantry-Tau manipulator is a new robot concept. In contrast to other parallel kinematic manipulators (PKMs), it has a large working range. The high stiffness makes it ideal for a wide range of tasks such as grinding, deburring, and cutting. An additional aspect of such a PKM is the modularity, which in this work has been studied in terms of possibilities for assembly and mechanical reconfiguration at the end-user site, integration of such a kinematically different robot with a standard industrial controller, and new needs for methods/tools to support simple (re)configuration. What is needed for fully utilizing the modularity of the concept in typical SME manufacturing scenarios? A range of software tools and methods were found to be useful and necessary for efficient engineering and integration. For experimental evaluation, a full-scale prototype robot was designed and built, the kinematic software was developed and integrated into the ABB kinematics software, robot CAD software was adapted to the configuration needs, and both simulations and physical experiments were carried out. Our findings make us believe that enhanced software tools should be integrated on a higher symbolic (or meta-) level to better support transformation of data and code generation, but also that the Gantry-Tau type of robot (with adequate software support) will bring a new dimension of flexibility into SME manufacturing.},
  author       = {Dressler, Isolde and Haage, Mathias and Nilsson, Klas and Johansson, Rolf and Robertsson, Anders and Brogardh, T.},
  booktitle    = {2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)},
  keyword      = {robot CAD software,SME manufacturing,robot automation,reconfigurable Gantry-Tau manipulator,ABB kinematics software,parallel kinematic manipulators},
  language     = {eng},
  pages        = {2957--2962},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Configuration support and kinematics for a reconfigurable Gantry-Tau manipulator},
  url          = {http://dx.doi.org/10.1109/ROBOT.2007.363921},
  year         = {2007},
}