[1]TIAN Yong,WANG Hongguang,PAN Xinan,et al.Research on configuration analysis of collaborative robots[J].CAAI Transactions on Intelligent Systems,2019,14(2):217-223.[doi:10.11992/tis.201806044]
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Research on configuration analysis of collaborative robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 14 Number of periods: 2019 2 Page number: 217-223 Column: 学术论文—智能系统 Public date: 2019-03-05
Title:
Research on configuration analysis of collaborative robots
Author(s):
TIAN Yong1; 2;  WANG Hongguang1;  PAN Xinan1;  HU Mingwei1; 2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016;
2. University of Chinese Academy of Sciences, Beijing 100049
Keywords:
collaborative robots; configuration; evolutionary; offset; performance Index
CLC:
TP241
DOI:
10.11992/tis.201806044
Abstract:
In this study, by analyzing the configurations of collaborative robots, it is concluded that offset is an important factor affecting the configuration. First, the configurations of existing typical collaborative robots were analyzed to obtain the difference of configurations through the evolutionary process between the configurations. Then, the offset was defined using the difference between configurations and was divided into S-type and Y-type according to the influence on the range of motion of the joint. Finally, the global performance index, the workspace volume index, and the flexible workspace index were used as performance evaluation criteria to simulate the performance of collaborative robots, namely iiwa, Sawyer, and Yumi. Through comparative analysis, it was seen that the existence of offset reduced the global performance of configuration and the volumetric performance of workspace, but improved the performance of flexible workspace. The results show that offset is an important factor influencing robot performance. This analysis provides a theoretical basis for the configuration design of collaborative robots.
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