Abstract

In this work, a welding robot manipulator with 5-DOF was designed. The robot manipulator was designed to weld profile like extruded parts with PRRRR joints. Kinematic calculations were made using Denavit-Hartenberg method. The kinematic results of the prismatic axes were plotted between - 45º and +45º for each revolute axis as well as 0-0.1 m for prismatic axis within 10 s duration. Dynamic calculations were performed by adopting Lagrange-Euler method. The force for prismatic axis and torques for revolute axes was calculated by iterative calculations. According to results, the maximum torque was produced at the θ2 joint with the angle of -0.9 º and 5.2 s as -5.02 Nm.

References

[1] Valentina DP, Valentina DS, Salvatore M, Stefano R. Smart operators: How Industry 4.0 is affecting the worker’s performance in manufacturing contexts. Procedia Comput Sci 2021;180:958–67. https://doi.org/https://doi.org/10.1016/j.procs.2021.01.347.

[2] Meindl B, Ayala NF, Mendonça J, Frank AG. The four smarts of Industry 4.0: Evolution of ten years of research and future perspectives. Technol Forecast Soc Change 2021;168:120784. https://doi.org/https://doi.org/10.1016/j.techfore.2021.120784.

[3] Javaid M, Haleem A, Singh RP, Suman R. Substantial capabilities of robotics in enhancing industry 4.0 implementation. Cogn Robot 2021;1:58–75. https://doi.org/https://doi.org/10.1016/j.cogr.2021.06.001.

[4] O’Shea N, Fenelon MA. Process Instrumentation, Robotics, Wearables and Industry Internet of Things. In: McSweeney PLH, McNamara JP, editors. Encycl. Dairy Sci. (Third Ed. Third Edit, Oxford: Academic Press; 2022, p. 371–80. https://doi.org/https://doi.org/10.1016/B978-0-12-818766-1.00198-7.

[5] Arden NS, Fisher AC, Tyner K, Yu LX, Lee SL, Kopcha M. Industry 4.0 for pharmaceutical manufacturing: Preparing for the smart factories of the future. Int J Pharm 2021;602:120554. https://doi.org/https://doi.org/10.1016/j.ijpharm.2021.120554.

[6] Morgan J, Halton M, Qiao Y, Breslin JG. Industry 4.0 smart reconfigurable manufacturing machines. J Manuf Syst 2021;59:481–506. https://doi.org/https://doi.org/10.1016/j.jmsy.2021.03.001.

[7] Dekle R. Robots and industrial labor: Evidence from Japan. J Jpn Int Econ 2020;58:101108. https://doi.org/https://doi.org/10.1016/j.jjie.2020.101108.

[8] Fan H, Hu Y, Tang L. Labor costs and the adoption of robots in China. J Econ Behav Organ 2021;186:608–31. https://doi.org/https://doi.org/10.1016/j.jebo.2020.11.024.

[9] Kerruish E. Assembling human empathy towards care robots: The human labor of robot sociality. Emot Sp Soc 2021;41:100840. https://doi.org/https://doi.org/10.1016/j.emospa.2021.100840.

[10] (Maggie) Fu X, Bao Q, Xie H, Fu X. Diffusion of industrial robotics and inclusive growth: Labour market evidence from cross country data. J Bus Res 2021;122:670–84. https://doi.org/https://doi.org/10.1016/j.jbusres.2020.05.051.

[11] Faber M. Robots and reshoring: Evidence from Mexican labor markets. J Int Econ 2020;127:103384. https://doi.org/https://doi.org/10.1016/j.jinteco.2020.103384.

[12] Kreutz-delgado, Kenneth ; Seraji H. Kinematic Analysis of 7-DOF Manipulators. R Inst Technol 2015:469–81.

[13] Lin W, Li B, Yang X, Zhang D. Modelling and control of inverse dynamics for a 5-DOF parallel kinematic polishing machine. Int J Adv Robot Syst 2013;10:1–21. https://doi.org/10.5772/54966.

[14] Li Y, Xu Q. Kinematic analysis of a 3-PRS parallel manipulator. Robot Comput Integr Manuf 2007;23:395–408. https://doi.org/10.1016/j.rcim.2006.04.007.

[15] Uchiyama T, Terada H, Mitsuya H. Continuous path control of a 5-DOF parallel-serial hybrid robot. J Mech Sci Technol 2010;24:47–50. https://doi.org/10.1007/s12206-009- 1166-x.

[16] Tale Masouleh M, Gosselin C, Saadatzi MH, Kong X, Taghirad HD. Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms. Meccanica 2011;46:131–46. https://doi.org/10.1007/s11012-010-9393-x.

[17] Dar NGA, Ren HÖ, Kozan R. 5 Serbestlik Dereceli Robot Kolunun Modellenmesi ve Kontrolü. 5 Serbestlik Dereceli Robot Kolunun Model ve Kontrolü 2000;17:155–60. https://doi.org/10.16984/saufbed.22465.

[18] Craig JJ. Introduction to Robotics: Mechanics and Control. Pearson- Pretence Hall; 2005.