Increasing ABB flexpicker robot's degree of freedom for automated product assembly task

Selvaraju, Kalaiselvan (2016) Increasing ABB flexpicker robot's degree of freedom for automated product assembly task. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The main purpose of this project is to increase the DOF (degree of freedom) for ABB FlexPicker robot available in Robotic Lab of FKP in UTeM. The DOF of the robot is increased by designing a new flexible end-effector that can perform more complex automated product assembly task. This design is functioned to perform pick and place at vertical direction with a specified angle unlike the current end-effector which use to execute in only straight direction. This will be useful in picking and place an object in different angle of direction, complex assembly task and also deep vacuum cleaning process. The objectives of this project are to design and develop prototype of flexible – end effector in order to increase degree of freedom of an ABB FlexPicker robot. Three different designs of end-effectors are developed using SolidWorks software. These designs are analyzed based on several criteria and the best design is selected. The selected design is fabricated using a suitable method. To support the result an analysis on the angle of bending that the flexible end-effector can achieve with different amounts of load is conducted. A weight lifting test is carried on to identify the maximum amount of load can be supported by the end-effector. From the analysis, it is found that the endeffector can lift weights up to 1kg due to sufficient vacuum pressure; however, it could perform bending up to 90 degrees for only maximum load of 600 grams. Suggestion for future work is also included in this report.

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