Comparative study of performances among two designs of an industrial robot

The goal of this work is to compare the performances of the Fanuc Arc Mate 100iC robotic manipulator, achieved by both, the current design and an improved design of such a machine, during execution of a specified task. The measured performance is that one regarding the ability of the manipulator to simultaneously produce both angular and linear motions of the end-effector. The enhanced design of the manipulator is that one obtained in a previous work by optimization of the Kinetostatic Conditioning Index of the robot’s Jacobian matrix. The results of this study show that the improved design provide more efficient postures during the task.