Abstract
The main idea of this paper is to present the modeling and simulation of an individual 5DOF degrees of freedom robotic arm. The main axis of the modeling design will be up to the branch of science that makes up Mechatronics. The methods that have been used for the 3D model construction are presented as well as the methods for the simulation. The kinematics problem for the robot system under study is elaborated. Both forward and inverse kinematics is addressed in detail. The CAD model design is also presented. The model parameters are defined for the 3D model and the parameters are used as a base to diverge for the real system. thanks to CAD model translation to SimMechanics model, there is no need for the dynamic equations of motion derivation. The model in SimMechanics is adjusted properly for the trajectory tracking simulation. Several simulations are presented to validate the kinematics solution and the dynamics requirements for the motion. The results presented in the article shows the effectivity of the new softwares in modeling and control of engineering systems.
Highlights
Electronics and automation are moving in today's world
The simulation presented in this works used the CAD model and the simulation software for dynamic motion simulation of the robot system
The main idea of the simulation includes the solution of the inverse kinematics problem and dynamic simulation depending on CAD model
Summary
Electronics and automation are moving in today's world It started with smartphones, continues with smartwatches, cars, houses, and smart factories or whole cities. Continues with smartwatches, cars, houses, and smart factories or whole cities Sometimes it is automation purely at the level of software in the form of artificial intelligence and machine learning, other times it is an intervention in the real world such as automated production or control of a car and locking of houses. All these examples meet an important condition that the concept of automation includes, namely automatic system. Fedák et al [4] was presented an implementation of active method of the robot technique and its movable simulation by MATLAB
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