A Statistical Analysis of Commercial Articulated Industrial Robots and Cobots

Abstract

This paper aims to elucidate the state-of-the-art, prevailing priorities, and the focus of the industry, and identify both limitations and potential gaps regarding industrial robots and collaborative robots (cobots). Additionally, it outlines the advantages and disadvantages of cobots compared to traditional industrial robots. Furthermore, three novel factors are introduced in this survey as metrics to evaluate the efficiency and performance of industrial robots and cobots. To achieve these purposes, a statistical analysis and review of commercial articulated industrial robots and cobots are conducted based on their documented specifications, such as maximum payload, weight, reach, repeatability, average maximum angular speed, and degrees of freedom (DOF). Additionally, the statistical distributions of the efficiency factors are investigated to develop a systematic method for robot selection. Finally, specifications exhibiting strong correlations are compared in pairs using regressions to find out trends and relations between them, within each company and across them all. The investigation of the distribution of specifications demonstrates that the focus of the industry and robot makers is mostly on articulated industrial robots and cobots with higher reach, lower payload capacity, lower weight, better repeatability, lower angular speed, and six degrees of freedom. The regressions reveal that the weight of robots increases exponentially as the reach increases, primarily due to the added weight and torque resulting from the extended reach. They also indicate that the angular speed of robots linearly decreases with increasing reach, as robot manufacturers intentionally reduce the angular speed through reductive gearboxes to compensate for the additional torque required as the reach extends. The trends obtained from the regressions explain the reasons behind these interrelationships, the design purpose of robot makers, and the limitations of industrial robots and cobots. Additionally, they help industries predict the dependent specifications of articulated robots based on the specifications they require. Moreover, an accompanying program has been developed and uploaded on to GitHub, taking the required specifications and returning a list of proper and efficient robots sourced from different companies according to the aforementioned selection method.