Publication: Design and development of the next generation interchangeable modular end effector mechanism in delta robot with phase lead compensator and deadzone compensation
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Date
2022-08-01
Authors
Kelvin Tan, Yi Boon
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Abstract
The term industrial revolution 4.0 (IR4.0) is not an anomalous one today. In fact, it was a revolution practiced by industries to work on the cyber-physical system and drive the automation. The ultimate direction of IR4.0 is to eliminate the reliance on human to perform the task in the industries. In context of national agenda, the adoption of IR4.0 will demote the reliance on foreign labor, paving way towards greater productivity in industrial automation. In addition, machine downtime can be substantially reduced when maintenance or machine reconfiguration can be accomplished automatically. For that reason, this project aims to design and develop an Interchangeable Modular End Effector Mechanism (IMEEM) in line with the objective of IR4.0 to reduce the human intervention and increase robot versatility in handling the task. Ball-lock mechanism is presented to perform the interchanging mechanism for high payload. To demonstrate the project, the mechanism is implemented on a delta robot to perform pick and place. Three types of modular end effectors are designed i.e., Servo Gripper, Soft Gripper, and Universal Gripper. The pick and place paths are predefined. The control schemes applied in this project are phase lead compensator with dead zone compensation. The IMEEM proposed achieve 100 % of success rate with 100 attempts on each modular end effector. The duration to perform the modular end effector exchange is 325 ms. IMEEM is estimated to have payload up to 61 kg at 1.4 safety factor. The mechanism can transfer the electrical power and pneumatic system from robot arm to modular end effectors to perform specific tasks. The maximum angular error recorded in the system is 1.72°. The system has high potential in promoting a higher automation level and efficiency in the industries.