Abstract
In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.
Highlights
The benefits of introducing robots into the industry include control and productivity management and a marked increase in product quality
The main goal of this paper is to create an anthropomorphic, redundant robotic arm with a simple structure, light weight, capable of manipulating objects with a mass of up to 0.2 [Kg] and a minimum energy consumption and which can be attached to a mobile platform with high manoeuvrability, such as the one in the below Figure 1
This chapter includes aspects related to the development of the mechanical and the electronic part of this robot, and aspects regarding the dynamic analysis of the robot
Summary
The benefits of introducing robots into the industry include control and productivity management and a marked increase in product quality. Robots are made of components similar to those of human beings, so they have an anthropomorphic structure. They are designed to reproduce the behaviour of humans and animals. The aim of this paper is to design an anthropomorphic robotic arm with five degrees of mobility, comparable to that of human beings and to examine, study and simulate its dynamics and. During the development of the project, aspects related to the mechanical structure of the arm, design, the kinematic part of the robot and the part of simulation and manipulation of a virtual model of the robotic arm were materialized. The mathematical equations for the corresponding kinematic part were determined, equations which are the foundation of a future virtual dynamic simulation [1-4]
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