Torque margin and operating force of two compact industrial robots in wire driving operation Ellipsoid-based placement method

Abstract

I examined a method for determining the arrangement and posture of robots that can operate with a low load when multiple industrial robots perform work. When deciding the placement of a robot, the work area of ​​the robot is generally used as a reference, but this criterion alone may impose an unnecessarily large load. Therefore, by establishing a placement determination method focusing on the torque and operating force ellipsoid acting on the motor, it was possible to lead to highly accurate movement with a small load on the joints.