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All Journal IAES International Journal of Robotics and Automation (IJRA) International Journal of Reconfigurable and Embedded Systems (IJRES)
Chowdhury, Mohammad Asaduzzaman
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Automotive Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering

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A holistic approach of stability using material parameters of manipulators Mustary, Shabnom; Kashem, Mohammod Abul; Chowdhury, Mohammad Asaduzzaman; Uddin, Jia
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp380-390

Abstract

The demand for a comprehensive method to assess stability using manipulator material parameters is high. Various material parameters, such as the Young modulus, which represents stiffness, damping, and deflection, influence the material of the robot manipulator. The correlation between robot stability and these characteristics remains unclear, as prior studies have not yet examined the collective impact of these parameters on robot manipulators. This work considers two sophisticated manipulators, namely ABB and FANUC. The main objective of this research is to construct a stability model that considers the material properties of stiffness, damping, and deflection to assess the manipulator’s stability level, which may be categorized as low, medium, or high. Furthermore, the presented stability model examines and employs numerous modified and conventional formulas for material properties to determine the level of stability. The findings show that stiffness significantly influences the stability of robot manipulators, a relationship that applies to all the examined manipulators. We also emphasize that the choice of manipulator materials significantly impacts stability maintenance. These findings are expected to enhance the design and advancement of novel robot manipulators within the industry.
Algorithm-driven development of a simulation tool for industrial manipulator stability analysis Mustary, Shabnom; Kashem, Mohammod Abul; Chowdhury, Mohammad Asaduzzaman; Uddin, Jia
International Journal of Reconfigurable and Embedded Systems (IJRES) Vol 14, No 1: March 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijres.v14.i1.pp69-78

Abstract

Industrial manipulators are essential to many manufacturing processes because they increase efficiency and productivity dramatically. However, maintaining operational safety and averting potential risks in industrial environments requires that these manipulators be stable. The development and implementation of an entirely algorithm-driven novel simulation tool intended to assess industrial manipulators’ stability in-depth are presented in this research. The suggested tool combines sophisticated mathematical models with the material properties of the manipulator, such as deflection, stiffness, and damping. To analyses the dynamic behaviour of manipulators under various operating situations, a hypothetical simulation technique to assess the stability of robot manipulators combined with material properties is taken into consideration. The simulation tool offers vital insights into the stability characteristics of manipulators, allowing engineers and designers to enhance their performance and guarantee operational safety. The simulation tool’s usefulness is showcased through case studies and comparative evaluations, emphasizing its capacity to improve the design and implementation of industrial manipulators in practical situations. In summary, this research enhances the field of industrial automation by offering a strong framework for assessing and upgrading the stability of manipulator systems. This, in turn, improves productivity and safety in industrial settings.
Co-Authors Kashem, Mohammod Abul Mustary, Shabnom Uddin, Jia