Mathematical modelling and simulation investigation of the dynamic behaviour of a compliant 2-R robot by using N-E method Via Matlab/Simulink

Abstract

This paper presents a mathematical modeling and simulation investigation on the effect of the equilibrium position on the stability and the energy provided by the robot by proposing four simulation cases. No closed solution for this critical study has been reported. An explicit elbow down model of a 2-R robot has been modelled by adding passive springs. The authors in this paper develop the dynamic of a compliant 2-R robot by using the extended Newton-Euler (N-E) method. The dynamic simulation is investigated by using Matlab/Simulink based on motion with jerk zero at the start-stop path, which guarantees less vibration to the robot’s articulations. The simulation of trajectory is realized by SolidWorks to import the results to Matlab/Simulink for the dynamical simulation. The simulation results show that the energy-saving and good robot stability can be achieved whenever the equilibrium position is close from the beginning of motion with avoiding the unstable phase of the robot during working.