Pick position optimization of vacuum suction gripper frame in IRB360 robot using Taguchi analysis and genetic algorithm

ABSTRACT

Multi-Point Contact Vacuum Suction Grippers, coupled to an IRB 360 robot mechanical system, are commonly used for performing numerous pick and place operations on flat glass plates. The position of the suction cups over the pick-positions has a key role in defining the self-weight deformation of the flat glass plate when lifted. Now every robotic material handler produces its own inherent mechanical vibrations. In this work, a method is proposed for defining the optimal pick-positions for a flat glass plate of specific dimensions, with a view to minimise the deformation and accordingly the forced vibrations during robotic handling. The results of the above method were then used in designing a three-point vacuum gripper and perform pick and place operations. The above method involves a combination of Taguchi design of experimental techniques on finite element analysis, and genetic algorithm is used to optimise the Robot pick position. Regression analysis is used to develop the predicted model of robot pick position and ANOVA analysis is used to contribute the individual process parameter on robot pick position intervals. The developed mathematical model was further analysed with Genetic algorithm to find out the optimum conditions leading to the maximum pick position accuracy.

KEYWORDS:

• Vacuum suction gripper
• IRB 360 robot
• Taguchi analysis
• genetic algorithm
• parallel manipulator

Acknowledgments

Author wish to thank the Robotics lab, department of mechanical engineering at SRMIST for conducting the vacuum gripper IRB360 Robot experimental study.

Disclosure statement

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

Additional information

Notes on contributors

Prabhu Sethuramalingam

All authors contributed to the study conception, design and Fabrication of Vacuum Gripper. Material preparation, Manufacturing, data collection and analysis were performed by [Vasanthkumar. CH, S.Prabhu] and FEA analysis was performed by [Ragavendra Rao.V]. The first draft of the manuscript was written and verified by [Vasanthkumar.CH and S.Prabhu]. All authors read and approved the final manuscript.