Modeling and Simulation of A 6 Dof Robot

2012 ◽  
Vol 463-464 ◽  
pp. 1116-1119 ◽  
Author(s):  
Monica Loredana Enescu ◽  
Cătălin Alexandru
Keyword(s):  
Spray Pyrolysis ◽  
Mechanical Model ◽  
Robot Manipulator ◽  
Robotic System ◽  
Surface Deposition ◽  
End Effector ◽  
Uniform Coating ◽  
Revolute Joints ◽  
Spray Pyrolysis Process ◽  
Multi Body

The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints. This is in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotic system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations, in longitudinal and transversal direction relative to the surface deposition. The mechanical model of the robot mechanism was developed by using the MBS (Multi Body Systems) environment ADAMS of MSC Software.

Five Bar Planar Manipulator Simulation and Analysis by Bond Graph

2014 ◽  
Author(s):  
Shengqi Jian ◽  
Cheng Yin ◽  
Luc Rolland ◽  
Lesley James
Keyword(s):  
Parallel Robot ◽  
Bond Graph ◽  
Robot Dynamics ◽  
End Effector ◽  
Revolute Joints ◽  
Symmetric Configuration ◽  
Dynamic Performances ◽  
Cartesian Coordinate ◽  
Multi Body ◽  
The Relationship

This work focuses on the bond graph modelling method and its application on multi-body system, especially on the five-bar parallel robot. Five-bar parallel robot is comprised of four arms, two revolute actuators and five revolute joints. This paper adopts five-bar parallel robot in symmetric configuration as simulation object. As it will be used as a pickup and placing machine, its workspace is fixed on Cartesian coordinate. The relationship between the two rotating angles and end effector’s desire position is built by inverse kinematics. Bond graph is used to describe moment, torque, velocity, angle relationships. In this project, the dynamic performances between arms, motors at robot basement and end effector will be researched. In this paper, an investigation about how to use bond graph to model DC (direct current) servo motor and an integrated motion control system is carried out. During a typical end effector point-point displacement, the torque change between arms is plotted. Finally, 3-D animation experiment is conducted. Experiment results show that bond graph can simulate robot dynamics performance without having to make a large number of equations. It is able to simulate and solve five-bar kinematics problem in the process.

Design of a Crop Harvesting End Effector for the Robotic System used in the NASA JSC Biomass Production Chamber

2003 ◽  
Author(s):  
Neil Duffie ◽  
Weijia Zhou ◽  
Erick Oberstar ◽  
Martin Kornfeld ◽  
Wolfgang Ptacek
Keyword(s):  
Biomass Production ◽  
Robotic System ◽  
End Effector

Deposition and characterization of La2Ti2O7 thin films via spray pyrolysis process

2007 ◽  
Vol 253 (10) ◽  
pp. 4560-4565 ◽  
Author(s):  
D.S. Todorovsky ◽  
R.V. Todorovska ◽  
M.M. Milanova ◽  
D.G. Kovacheva
Keyword(s):  
Thin Films ◽  
Spray Pyrolysis ◽  
Pyrolysis Process ◽  
Spray Pyrolysis Process

Microstructural properties of ZnO:Sn thin films deposited by intermittent spray pyrolysis process

2009 ◽  
Vol 21 (2) ◽  
pp. 179-184 ◽  
Author(s):  
F. Kadi Allah ◽  
L. Cattin ◽  
M. Morsli ◽  
A. Khelil ◽  
N. Langlois ◽  
...  
Keyword(s):  
Thin Films ◽  
Spray Pyrolysis ◽  
Microstructural Properties ◽  
Pyrolysis Process ◽  
Spray Pyrolysis Process

Properties of NiO thin films deposited by intermittent spray pyrolysis process

2007 ◽  
Vol 253 (9) ◽  
pp. 4330-4334 ◽  
Author(s):  
B.A. Reguig ◽  
A. Khelil ◽  
L. Cattin ◽  
M. Morsli ◽  
J.C. Bernède
Keyword(s):  
Thin Films ◽  
Spray Pyrolysis ◽  
Pyrolysis Process ◽  
Spray Pyrolysis Process

scholarly journals A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Nicholas Baron ◽  
Andrew Philippides ◽  
Nicolas Rojas
Keyword(s):  
Potential Application ◽  
Robot Manipulator ◽  
Video Recording ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Geometric Method ◽  
Forward Kinematics ◽  
Online Video ◽  
End Effector ◽  
Moving Platform

This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2100-2113 ◽  
Author(s):  
Bolin Liao ◽  
Weijun Liu
Keyword(s):  
Robot Manipulator ◽  
Robot Manipulators ◽  
Weighting Factor ◽  
Redundancy Resolution ◽  
Type Solution ◽  
Revolute Joints ◽  
Joint Velocity ◽  
Joint Acceleration ◽  
Minimum Velocity ◽  
Minimization Scheme

SUMMARYIn this paper, a pseudoinverse-type bi-criteria minimization scheme is proposed and investigated for the redundancy resolution of robot manipulators at the joint-acceleration level. Such a bi-criteria minimization scheme combines the weighted minimum acceleration norm solution and the minimum velocity norm solution via a weighting factor. The resultant bi-criteria minimization scheme, formulated as the pseudoinverse-type solution, not only avoids the high joint-velocity and joint-acceleration phenomena but also causes the joint velocity to be near zero at the end of motion. Computer simulation results based on a 4-Degree-of-Freedom planar robot manipulator comprising revolute joints further verify the efficacy and flexibility of the proposed bi-criteria minimization scheme on robotic redundancy resolution.

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