DESIGN AND DEVELOPMENT OF 2-R 2-DOF FORCE CONTROLLED ROBOT
|
|
- Rachel Jacobs
- 5 years ago
- Views:
Transcription
1 DESIGN AND DEVELOPMENT OF 2-R 2-DOF FORCE CONTROLLED ROBOT Kemparaju C R 1, Chetan Kumar D S 2,Ronald Reagon R 3 1,2,3 Assistant Professor, Department of Mechanical Engineering, New Horizon College of Engineering, Outer Ring Road, Bengaluru Abstract: Social changes have directly affected the demand for quality products and services which is evident from greater demand for manufactured products of superior quality at a more economical price. To meet this demand of customers, sophisticated controls and equipments have been developed in all sectors adopting newer technology in association with integrating different technologies. In line with integration a revolutionary change has taken place in the field of robotics whereon robots are developed to attain higher accuracy in speed position and force control. Thus force controlled robotic arm is used to guide an operator to move in designated path accurately without actually deviating from the path. It can be used in various production areas like welding, gluing, Sequential tightening of bolts etc. The major use of these kinds of robotic arms is that we can achieve the same degree of accuracy, precision and quality produced by a skilled worker from an unskilled worker. Thus reducing unemployment in developing countries which have huge unemployment rates that too in a very less cost. Keywords: Robot, Degrees of Freedom, Accuracy, Precision I. INTRODUCTION Robotics is a branch of technology that deals with design, construction, operation and application of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans in dangerous environments or manufacturing processes, or resemble humans in appearance, behavior, and or cognition. Many of today s robots are inspired by nature contributing to the field of bio-inspired robotics. The concept of creating machines that can operate autonomously dates back to classical times, but research into the functionality and potential uses of robots did not grow substantially until the 20 th century. Throughout history, robotics has been often seen to mimic human behavior, and often manage tasks in a similar fashion, Today, robotics is a rapidly growing field, as technological advances continue; research, design and building. New robot serves various practical purposes, whether domestically, commercially or militarily. Many robots do jobs that are hazardous people such as diffusing bombs, mines and exploring ship wrecks. II. LITRETURE REVIEW Jinno M and Takahashina M implemented the theoretical concept of force control to that of production areas like Grinding, Chamfering and Polishing in the year To facilitate easier operations they developed task oriented robot language and force control for following edges of work pieces. They also developed tool moment control method, a skip function and round function to cope up with work piece difference James E Bobrow and Brian W McDonell suggested that Pneumatic actuators used in force control robot is as good as that of electric actuators, in the year The control approach which they used was the triangular form of coupled rigid body and air flow dynamics to establish path tracking. All Rights Reserved 93
2 addition they developed a hybrid position /force controlled algorithm. They also suggested that the tip force on robot can be controlled without need of expensive force and torque sensors. Rajesh Kumar, Puneet Gupta and Peter Berkelman in the year 2000 reviewed the use of force control robot in assistive Micro surgical operation wherein fine manipulation tasks requiring human judgment, sensory integration and hand eye coordination was the need of hour. They also reviewed the stable force control law. III. ROBOT CONFIGURATION Robots can take many physical forms and there is no absolute best configuration, the best will depend on the particular application as different configurations have different advantages which make them more suitable for certain tasks. Physical and geometric configurations are not only consideration n choice of robot for task, others include Reach Working Volume or Envelope Payload capacity Accuracy Repeatability Maneuverability Speed of Operation Form of motion Sensing devices These entire factors combine together to formulate the final design of the robot called its configuration. The configuration determines to a large extent the tasks to which the robot is best suited. There are seven basic industrial robot design configuration Cartesian or Rectangular Cylindrical Revolute or articulated Polar or spherical Cartesian or Rectangular Configuration The Cartesian Configuration provides for three linear axis of movement at the right angles to each other. The modes of movement are similar to those on a milling machine, providing movement in X, Y and Z axis. It can also be called Rectangular configuration as it is the working range sweeps a rectangular volume. All Rights Reserved 94
3 T Advantages Easily programmed and controlled movements Good accuracy Simple control system Fast operation Inherent stiff structure Large payload capacity Structural simplicity, giving good reliability Applications Areas where linear movements of high accuracy are needed Ex; Manipulation of components through apertures i.e furnace doors and machine openings The Cylindrical Configuration combines both vertical and horizontal linear movements, with rotary movement in the horizontal plane about the vertical axis. Advantages Easily programmed and controlled movements. Good accuracy. Simple control system. Fast operation. Good access to front and sides. Structural simplicity, giving good reliability. Applications Applications include small circular manufacturing cells or loading and unloading operations servicing conveyor type systems. Revolute or Articulated Configuration The Revolute configuration comprises a number of rigid arms connected by rotary joints, rotary moment at the base is also provided. Since all movements are by angular rotation of the joints complex calculations are often needed to move the arm in straight lines. All Rights Reserved 95
4 Advantages Extremely good maneuverability Ability to reach over obstructions Easy front, side, rear and overhead access Large reach for small floor area Fast movements due to rotary joints Applications Spot and Arc welding, adhesive placing Polar or Spherical Configuration This combine s rotational movement in both the horizontal and vertical planes with a linear in or out movement of the arm. It is sometimes referred to as Gun Turret configuration. Advantages Easily controlled and programmed movements Fast operation Large payload capacity Accuracy and Repeatability at long reaches Applications Suited to lifting and shifting operations and to reach horizontal and inclined tunnels IV. ROBOT MOTIONS The robots movement can be divided into two general categories: arm and body motions, and wrist motions. The individual joint motions associated with these two categories are sometimes referred to by the term degrees of freedom, and a typical industrial robot is equipped with 4 to 6 degrees of freedom. The robot motions are accomplished by means of powered joints. Connecting the various manipulator joints together are rigid members that are called links. The joints used in the design of industrial robots typically involve a relative motion of the adjoining links that is either linear or rotational. Linear joints involve a sliding or translational motion of the connecting links. This motion can be achieved in a number of ways (e.g., by a piston, a telescoping mechanism, and relative motion along a linear track or All Rights Reserved 96
5 There are at least three types of rotating joint that can be distinguished in robot manipulators. The three types are shown in figure. Vertical traverse: This is the capability to move the wrist up or down to provide the desired vertical attitude. Radial traverse: This involves the extension or retraction (in or out movement) of the arm from the vertical center of the robot. Rotational traverse: This is the rotation of the arm about the vertical axis. V. KINEMATICS OF ROBOTIC ARM Robot arm kinematics deals with analytical study of the geometry of the motion of a robot arm with respect to a fixed reference coordinate system as a function of time without regard to the forces or moments that cause the motion. Thus, it deals with the analytical description of the spatial displacement of the robot as a function of time, in particular the relation between the joint variable space and the position and orientation of the end effectors of a robot arm. Vector and matrix algebra are utilized to develop a systematic and generalized approach to describe and represent the location of the links of a robot arm with respect to a fixed reference frame. Since the link of a robot arm may rotate and/or translate with respect to a reference co-ordinate frame a body attached co-ordinate frame will be established along the joint axis for each link FORWARD OR DIRECT KINEMATICS For the forward or direct kinematics the inputs are the joint angles vectors and the link parameters. The output of the problem is the orientation and the position of the tool or the end All Rights Reserved 97
6 Y L 1 & L 2 =link lengths in mm θ 1 & θ 2 =Angles made by the links in degree X & Y= position of the end effectors From the figure, by trigonometry X = L 1 cosθ 1 + L 2 cos(θ 1 + θ 2 ) Y = L 1 sinθ 1 + L 2 sin (θ 1 + θ 2 ) Writing in the matrix from, [ X Y ]=[cosθ 1 cos (θ 1 + θ 2 ) sinθ 1 sin(θ 1 + θ 2 ) ] [ L 1 ] L 2 The output of the matrix are X & Y which are the position of the end effector.by giving the values of the joint angles and length of the link, we can calculate the position of the end effectors. INVERSE KINEMATICS In certain situation it is possible to know the position and orientation of the objects placed in the workplace or envelope and it is desired to know the joint vectors given the link parameters of the robots. In such situation the inverse kinematics in All Rights Reserved 98
7 In many cases it is more important to be able to derive the joint angles given the end-of-arm position in world space. The typical situation to move its end of arm to a point in space defined by the point s co-ordinates.for the two link manipulator we have developed, there are two possible configuration for reaching the point (X,Y)as show in fig there are several strategy available to select the appropriate configuration, one of the approach is that employed in the control system Unimate PUMA robot. In the PUMA s control language VAL, there is a set of commands called ABOVE and BELOW that determines whether the elbow is to make an angle θ 2 that is greater than or less than zero. Y L 1 & L 2 =Link lengths in mm. θ 1 & θ 2 =Angles made by the links in degree. X & Y= Position of the end effectors. R = Resultant in mm. α =Angle made by the resultant. α = tan 1 Y X R= X 2 + Y 2 cos (α θ 1 ) = (L R 2 L 2 2 )/2L 1 R θ Temp 1 = cos 1 [(L R 2 L 2 2 )/2L 1 R] θ up Temp 1 =α + θ 1 θ down Temp 1 =α θ 1 θ up 2 =cos 1 [(X L 1 cos θ up up 1 )/ L 2 ] θ 1 θ down 2 =cos 1 [(X L 1 cos θ down down 1 )/ L 2 ] θ 1 Where, θ up 1 & θ up 2 = Elbow ABOVE configuration down down θ 1 & θ 2 =Elbow BELOW configuration Where the elbow ABOVE and BELOW configuration gives the two pairs of angles, In order to reach the given end effector s position, two angles are to be chosen i.e., one from the ABOVE configuration and one from the BELOW configuration. Knowing the link lengths and arm position (X, Y) in work space, we can easily calculate the joint angles. All Rights Reserved 99
8 VI. DESIGN The complete design of our robotic arm is done using SOLIDWORKS 2015 modeling software. DESIGN ITERATION 1 This was basically a conceptual design wherein we tried to design the robotic arm similar to that of SCARA configuration as shown in the figure, we modeled the parts and assembled because we felt that it would be comfortable for the operator to work on. Inference: After the concept design of the SCARA type configuration robot we actually saw that the drive train was getting longer than actual link itself, hence it became clear that this design though being good had to tweaked a little in order to make it aesthetically good. DESIGN ITERATION 2 It was also a conceptual design but with a slight improvement that is instead of placing the drive train over the link vertically we mounted the drive train onto the links horizontally inside the link itself. VII. CONCLUSIONS In modern era, where both quality and time plays a highly important role. This importance led to development of robots, although the advent of robots increased precision, accuracy, quality and decreased the lead time by a large extent, it eliminated the human labor from shop floor thus causing unemployment in both developed as well as developing countries. This major drawback can be negated by using force controlled robotic arm which guides an operator to move in designated path accurately without actually allowing him to deviate from the path. It can be used in various production areas like welding, gluing, Sequential tightening of bolts etc. The major use of these kinds of robotic arms is that we can achieve the same degree of accuracy, precision and quality produced by a skilled worker from an unskilled worker. Thus reducing unemployment in developing countries which have huge unemployment rates that too in 1/10 th of cost of actual automation. All Rights Reserved 100
9 1. J.S. Albus, Brains, Behaviour, and Robotics, BYTE Books, Peterborough, NH, 1981, chap R.U. Ayres and S.M. Miller, Robotics-Applications and Social Implications, Ballinger, Cambridge, MA, 1983, chaps 1and Mikell P. Groover et.al, Industrial Robotics Technology, Programming and Applications, 1986, chaps 1 and 2 and F.P Beer and E.R Johnson, Jr., Vector Mechanics for Engineers,3 rd ed., McGraw-Hill,New York, 1980, chap S Katsura, Y Matsumoto, K Ohnishi Industrial Electronics, IEEE Transactions on 54 (1), Modeling of force sensing and validation of disturbance observer for force control 6. A. Robertsson, T. Olsson R. Johansson, A. Blomdell, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems October 9-15, 2006, Beijing, China Implementation of Industrial Robot Force ControlCase Study: High Power Stub Grinding and Deburring. 7. Nabil Zemiti, Guillaume Morel, Member, IEEE, Tobias Ortmaier, and Nicolas Bonnet Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery IEEE/ASME transactions on mechatronics, vol. 12, no. 2, April Panagiotis K. Artemiadis Kostas J. Kyriakopoulos EMG-based Position and Force Control of a Robot Arm: Application to Teleoperation and All Rights Reserved 101
Industrial Robots : Manipulators, Kinematics, Dynamics
Industrial Robots : Manipulators, Kinematics, Dynamics z z y x z y x z y y x x In Industrial terms Robot Manipulators The study of robot manipulators involves dealing with the positions and orientations
More informationEEE 187: Robotics Summary 2
1 EEE 187: Robotics Summary 2 09/05/2017 Robotic system components A robotic system has three major components: Actuators: the muscles of the robot Sensors: provide information about the environment and
More informationRobotics Configuration of Robot Manipulators
Robotics Configuration of Robot Manipulators Configurations for Robot Manipulators Cartesian Spherical Cylindrical Articulated Parallel Kinematics I. Cartesian Geometry Also called rectangular, rectilinear,
More informationManipulator Path Control : Path Planning, Dynamic Trajectory and Control Analysis
Manipulator Path Control : Path Planning, Dynamic Trajectory and Control Analysis Motion planning for industrial manipulators is a challenging task when obstacles are present in the workspace so that collision-free
More informationModule 1 : Introduction to robotics. Lecture 3 : Industrial Manipulators & AGVs. Objectives. History of robots : Main bodies and wrists
Module 1 : Introduction to robotics Lecture 3 : Industrial Manipulators & AGVs Objectives In this course you will learn the following History of development of robots. Main body types of manipulators with
More informationMechanical structure of a robot=skeleton of human body Study of structure of a robot=physical structure of the manipulator structure
UNIT I FUNDAMENTALS OF ROBOT Part A 1. Define Robot. An industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable
More informationRobotics. SAAST Robotics Robot Arms
SAAST Robotics 008 Robot Arms Vijay Kumar Professor of Mechanical Engineering and Applied Mechanics and Professor of Computer and Information Science University of Pennsylvania Topics Types of robot arms
More information10/25/2018. Robotics and automation. Dr. Ibrahim Al-Naimi. Chapter two. Introduction To Robot Manipulators
Robotics and automation Dr. Ibrahim Al-Naimi Chapter two Introduction To Robot Manipulators 1 Robotic Industrial Manipulators A robot manipulator is an electronically controlled mechanism, consisting of
More informationInverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm
Inverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm Mohammed Z. Al-Faiz,MIEEE Computer Engineering Dept. Nahrain University Baghdad, Iraq Mohammed S.Saleh
More informationINSTITUTE OF AERONAUTICAL ENGINEERING
Name Code Class Branch Page 1 INSTITUTE OF AERONAUTICAL ENGINEERING : ROBOTICS (Autonomous) Dundigal, Hyderabad - 500 0 MECHANICAL ENGINEERING TUTORIAL QUESTION BANK : A7055 : IV B. Tech I Semester : MECHANICAL
More informationInverse Kinematics. Given a desired position (p) & orientation (R) of the end-effector
Inverse Kinematics Given a desired position (p) & orientation (R) of the end-effector q ( q, q, q ) 1 2 n Find the joint variables which can bring the robot the desired configuration z y x 1 The Inverse
More informationIndustrial Sections: 1.Robot Anatomy and Related Attributes 2.Robot Control Systems 3.End Effectors 4.Sensors in 5.Industrial Robot Applications 6.Robot Programming 7.Robot Accuracy and Repeatability Industrial
More informationStructural Configurations of Manipulators
Structural Configurations of Manipulators 1 In this homework, I have given information about the basic structural configurations of the manipulators with the concerned illustrations. 1) The Manipulator
More informationRobotics kinematics and Dynamics
Robotics kinematics and Dynamics C. Sivakumar Assistant Professor Department of Mechanical Engineering BSA Crescent Institute of Science and Technology 1 Robot kinematics KINEMATICS the analytical study
More informationForward Kinematic Analysis, Simulation & Workspace Tracing of Anthropomorphic Robot Manipulator By Using MSC. ADAMS
Forward Kinematic Analysis, Simulation & Workspace Tracing of Anthropomorphic Robot Manipulator By Using MSC. ADAMS Amit L Talli 1, B. B. Kotturshettar 2 Asst. Professor, Department of Automation & Robotics
More informationCh 8 Industrial Robotics
Ch 8 Industrial Robotics Sections: 1. Robot Anatomy and Related Attributes 2. Robot Control Systems 3. End Effectors 4. Sensors in Robotics 5. Industrial Robot Applications 6. Robot Programming 7. Robot
More informationMCE/EEC 647/747: Robot Dynamics and Control. Lecture 1: Introduction
MCE/EEC 647/747: Robot Dynamics and Control Lecture 1: Introduction Reading: SHV Chapter 1 Robotics and Automation Handbook, Chapter 1 Assigned readings from several articles. Cleveland State University
More informationKinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position.
Kinematics Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. 1/31 Statics deals with the forces and moments which are aplied on the mechanism
More informationInverse Kinematics Software Design and Trajectory Control Programming of SCARA Manipulator robot
International Journal of Engineering Research and Technology. ISSN 0974-3154 Volume 11, Number 11 (2018), pp. 1759-1779 International Research Publication House http://www.irphouse.com Inverse Kinematics
More informationChapter 1: Introduction
Chapter 1: Introduction This dissertation will describe the mathematical modeling and development of an innovative, three degree-of-freedom robotic manipulator. The new device, which has been named the
More informationDesign & Kinematic Analysis of an Articulated Robotic Manipulator
Design & Kinematic Analysis of an Articulated Robotic Manipulator Elias Eliot 1, B.B.V.L. Deepak 1*, D.R. Parhi 2, and J. Srinivas 2 1 Department of Industrial Design, National Institute of Technology-Rourkela
More informationMDP646: ROBOTICS ENGINEERING. Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt. Prof. Said M.
MDP646: ROBOTICS ENGINEERING Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt Prof. Said M. Megahed APPENDIX A: PROBLEM SETS AND PROJECTS Problem Set # Due 3 rd week
More informationEE Kinematics & Inverse Kinematics
Electric Electronic Engineering Bogazici University October 15, 2017 Problem Statement Kinematics: Given c C, find a map f : C W s.t. w = f(c) where w W : Given w W, find a map f 1 : W C s.t. c = f 1
More informationInverse Kinematics Solution for Trajectory Tracking using Artificial Neural Networks for SCORBOT ER-4u
Inverse Kinematics Solution for Trajectory Tracking using Artificial Neural Networks for SCORBOT ER-4u Rahul R Kumar 1, Praneel Chand 2 School of Engineering and Physics The University of the South Pacific
More informationKinematics - Introduction. Robotics. Kinematics - Introduction. Vladimír Smutný
Kinematics - Introduction Robotics Kinematics - Introduction Vladimír Smutný Center for Machine Perception Czech Institute for Informatics, Robotics, and Cybernetics (CIIRC) Czech Technical University
More informationIntroduction To Robotics (Kinematics, Dynamics, and Design)
Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567
More informationForward kinematics and Denavit Hartenburg convention
Forward kinematics and Denavit Hartenburg convention Prof. Enver Tatlicioglu Department of Electrical & Electronics Engineering Izmir Institute of Technology Chapter 5 Dr. Tatlicioglu (EEE@IYTE) EE463
More informationRobot mechanics and kinematics
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2016/17 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More informationBasilio Bona ROBOTICA 03CFIOR 1
Kinematic chains 1 Readings & prerequisites Chapter 2 (prerequisites) Reference systems Vectors Matrices Rotations, translations, roto-translations Homogeneous representation of vectors and matrices Chapter
More informationSpatial R-C-C-R Mechanism for a Single DOF Gripper
NaCoMM-2009-ASMRL28 Spatial R-C-C-R Mechanism for a Single DOF Gripper Rajeev Lochana C.G * Mechanical Engineering Department Indian Institute of Technology Delhi, New Delhi, India * Email: rajeev@ar-cad.com
More informationInvestigation and Evaluation of Embedded Controller Nodes of the Robotic Arm for Industrial Automation 1
Investigation and Evaluation of Embedded Controller Nodes of the Robotic Arm for Industrial Automation 1 IJCTA, 9(12), 2016, pp. 5687-5695 International Science Press Investigation and Evaluation of Embedded
More informationRobot mechanics and kinematics
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2017/18 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More information1. Introduction 1 2. Mathematical Representation of Robots
1. Introduction 1 1.1 Introduction 1 1.2 Brief History 1 1.3 Types of Robots 7 1.4 Technology of Robots 9 1.5 Basic Principles in Robotics 12 1.6 Notation 15 1.7 Symbolic Computation and Numerical Analysis
More informationPlanar Robot Kinematics
V. Kumar lanar Robot Kinematics The mathematical modeling of spatial linkages is quite involved. t is useful to start with planar robots because the kinematics of planar mechanisms is generally much simpler
More informationCecilia Laschi The BioRobotics Institute Scuola Superiore Sant Anna, Pisa
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2016/17 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More informationVIBRATION ISOLATION USING A MULTI-AXIS ROBOTIC PLATFORM G.
VIBRATION ISOLATION USING A MULTI-AXIS ROBOTIC PLATFORM G. Satheesh Kumar, Y. G. Srinivasa and T. Nagarajan Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian
More informationIndex Terms Denavit-Hartenberg Parameters, Kinematics, Pick and place robotic arm, Taper roller bearings. III. METHODOLOGY
ISSN: 39-5967 ISO 9:8 Certified Volume 5, Issue 3, May 6 DESIGN OF A PROTOTYPE OF A PICK AND PLACE ROBOTIC ARM Amod Aboti, Sanket Acharya, Abhinav Anand, Rushikesh Chintale, Vipul Ruiwale Abstract In the
More informationA Simple Technique to Passively Gravity-Balance Articulated Mechanisms
A Simple Technique to Passively Gravity-Balance Articulated Mechanisms Tariq Rahman, Ph.D. Research Engineer University of Delaware/A.I. dupont Institute Applied Science and Engineering Laboratories A.I.
More informationRobot Inverse Kinematics Asanga Ratnaweera Department of Mechanical Engieering
PR 5 Robot Dynamics & Control /8/7 PR 5: Robot Dynamics & Control Robot Inverse Kinematics Asanga Ratnaweera Department of Mechanical Engieering The Inverse Kinematics The determination of all possible
More informationROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino
ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Kinematic chains Readings & prerequisites From the MSMS course one shall already be familiar with Reference systems and transformations Vectors
More informationMatlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer
Matlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer Maitreyi More 1, Rahul Abande 2, Ankita Dadas 3, Santosh Joshi 4 1, 2, 3 Department of Mechanical
More informationOptimizationOf Straight Movement 6 Dof Robot Arm With Genetic Algorithm
OptimizationOf Straight Movement 6 Dof Robot Arm With Genetic Algorithm R. Suryoto Edy Raharjo Oyas Wahyunggoro Priyatmadi Abstract This paper proposes a genetic algorithm (GA) to optimize the straight
More informationSimulation of Articulated Robotic Manipulator & It s Application in Modern Industries
IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE) e-issn: 2278-1684,p-ISSN: 2320-334X, Volume 11, Issue 3 Ver. II (May- Jun. 2014), PP 01-07 Simulation of Articulated Robotic Manipulator & It
More informationTheory of Machines Course # 1
Theory of Machines Course # 1 Ayman Nada Assistant Professor Jazan University, KSA. arobust@tedata.net.eg March 29, 2010 ii Sucess is not coming in a day 1 2 Chapter 1 INTRODUCTION 1.1 Introduction Mechanisms
More informationLecture 2: Kinematics of medical robotics
ME 328: Medical Robotics Autumn 2016 Lecture 2: Kinematics of medical robotics Allison Okamura Stanford University kinematics The study of movement The branch of classical mechanics that describes the
More informationRotating Table with Parallel Kinematic Featuring a Planar Joint
Rotating Table with Parallel Kinematic Featuring a Planar Joint Stefan Bracher *, Luc Baron and Xiaoyu Wang Ecole Polytechnique de Montréal, C.P. 679, succ. C.V. H3C 3A7 Montréal, QC, Canada Abstract In
More informationApplication-Oriented Development of Parallel Kinematic Manipulators with Large Workspace
Application-Oriented Development of Parallel Kinematic Manipulators with Large Workspace T. Brogårdh, S. Hanssen, ABB Automation Technologies, Robotics,Västerås, Sweden G. Hovland, The University of Queensland
More informationA Geometric Approach to Inverse Kinematics of a 3 DOF Robotic Arm
A Geometric Approach to Inverse Kinematics of a 3 DOF Robotic Arm Ayush Gupta 1, Prasham Bhargava 2, Ankur Deshmukh 3, Sankalp Agrawal 4, Sameer Chourika 5 1, 2, 3, 4, 5 Department of Electronics & Telecommunication,
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute We know how to describe the transformation of a single rigid object w.r.t. a single
More informationDesign and Development of Cartesian Robot for Machining with Error Compensation and Chatter Reduction
International Journal of Engineering Research and Technology. ISSN 0974-3154 Volume 6, Number 4 (2013), pp. 449-454 International Research Publication House http://www.irphouse.com Design and Development
More informationCALCULATING TRANSFORMATIONS OF KINEMATIC CHAINS USING HOMOGENEOUS COORDINATES
CALCULATING TRANSFORMATIONS OF KINEMATIC CHAINS USING HOMOGENEOUS COORDINATES YINGYING REN Abstract. In this paper, the applications of homogeneous coordinates are discussed to obtain an efficient model
More informationCOPYRIGHTED MATERIAL INTRODUCTION CHAPTER 1
CHAPTER 1 INTRODUCTION Modern mechanical and aerospace systems are often very complex and consist of many components interconnected by joints and force elements such as springs, dampers, and actuators.
More informationMEAM 520. Manipulator Kinematics
MEAM 520 Manipulator Kinematics Katherine J. Kuchenbecker, Ph.D. General Robotics, Automation, Sensing, and Perception Lab (GRASP) MEAM Department, SEAS, University of Pennsylvania Lecture 4: September
More informationComputational Geometry Algorithms for Animation of a Segmented Space Reflector Telescope
Computational Geometry Algorithms for Animation of a Segmented Space Reflector Telescope YULU CHEN, CHARLES W. LIU, JANE DONG, HELEN BOUSSALIS, KHOSROW RAD, CHARALAMBOS POULLIS Electrical and Computer
More informationKinematic Synthesis. October 6, 2015 Mark Plecnik
Kinematic Synthesis October 6, 2015 Mark Plecnik Classifying Mechanisms Several dichotomies Serial and Parallel Few DOFS and Many DOFS Planar/Spherical and Spatial Rigid and Compliant Mechanism Trade-offs
More informationPick and Place Robot Simulation
Pick and Place Robot Simulation James Beukers Jordan Jacobson ECE 63 Fall 4 December 6, 4 Contents Introduction System Overview 3 3 State Space Model 3 4 Controller Design 6 5 Simulation and Results 7
More informationMotion Planning for Dynamic Knotting of a Flexible Rope with a High-speed Robot Arm
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Motion Planning for Dynamic Knotting of a Flexible Rope with a High-speed Robot Arm Yuji
More informationINTERNATIONAL JOURNAL OF DESIGN AND MANUFACTURING TECHNOLOGY (IJDMT)
INTERNATIONAL JOURNAL OF DESIGN AND MANUFACTURING TECHNOLOGY (IJDMT) International Journal of Design and Manufacturing Technology (IJDMT), ISSN 0976 6995(Print), ISSN 0976 6995 (Print) ISSN 0976 7002 (Online)
More informationÉCOLE POLYTECHNIQUE DE MONTRÉAL
ÉCOLE POLYTECHNIQUE DE MONTRÉAL MODELIZATION OF A 3-PSP 3-DOF PARALLEL MANIPULATOR USED AS FLIGHT SIMULATOR MOVING SEAT. MASTER IN ENGINEERING PROJET III MEC693 SUBMITTED TO: Luc Baron Ph.D. Mechanical
More informationSingularities of a Manipulator with Offset Wrist
Singularities of a Manipulator with Offset Wrist Robert L. Williams II Department of Mechanical Engineering Ohio University Athens, Ohio Journal of Mechanical Design Vol. 11, No., pp. 315-319 June, 1999
More informationForce-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures
Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures S. B. Nokleby F. Firmani A. Zibil R. P. Podhorodeski UOIT University of Victoria University of Victoria University of Victoria
More informationAutomatic Control Industrial robotics
Automatic Control Industrial robotics Prof. Luca Bascetta (luca.bascetta@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Prof. Luca Bascetta Industrial robots
More informationExperimental evaluation of static stiffness of a spatial translational parallel manipulator.
Experimental evaluation of static stiffness of a spatial translational parallel manipulator. CORRAL, J. (1), PINTO, Ch. (), ALTUZARRA, O. (), PETUA, V. (), DEL POZO, D. (1), LÓPEZ, J.M. (1) (1) Robotier
More informationThis week. CENG 732 Computer Animation. Warping an Object. Warping an Object. 2D Grid Deformation. Warping an Object.
CENG 732 Computer Animation Spring 2006-2007 Week 4 Shape Deformation Animating Articulated Structures: Forward Kinematics/Inverse Kinematics This week Shape Deformation FFD: Free Form Deformation Hierarchical
More informationOperation Trajectory Control of Industrial Robots Based on Motion Simulation
Operation Trajectory Control of Industrial Robots Based on Motion Simulation Chengyi Xu 1,2, Ying Liu 1,*, Enzhang Jiao 1, Jian Cao 2, Yi Xiao 2 1 College of Mechanical and Electronic Engineering, Nanjing
More informationFinding Reachable Workspace of a Robotic Manipulator by Edge Detection Algorithm
International Journal of Advanced Mechatronics and Robotics (IJAMR) Vol. 3, No. 2, July-December 2011; pp. 43-51; International Science Press, ISSN: 0975-6108 Finding Reachable Workspace of a Robotic Manipulator
More informationChapter 4. Mechanism Design and Analysis
Chapter 4. Mechanism Design and Analysis All mechanical devices containing moving parts are composed of some type of mechanism. A mechanism is a group of links interacting with each other through joints
More informationIntroduction To Robotics (Kinematics, Dynamics, and Design)
Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 6: Geometrical configurations Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN
More informationSimulation and Modeling of 6-DOF Robot Manipulator Using Matlab Software
Simulation and Modeling of 6-DOF Robot Manipulator Using Matlab Software 1 Thavamani.P, 2 Ramesh.K, 3 Sundari.B 1 M.E Scholar, Applied Electronics, JCET, Dharmapuri, Tamilnadu, India 2 Associate Professor,
More informationWORKSPACE AGILITY FOR ROBOTIC ARM Karna Patel
ISSN 30-9135 1 International Journal of Advance Research, IJOAR.org Volume 4, Issue 1, January 016, Online: ISSN 30-9135 WORKSPACE AGILITY FOR ROBOTIC ARM Karna Patel Karna Patel is currently pursuing
More informationDynamic Analysis of Manipulator Arm for 6-legged Robot
American Journal of Mechanical Engineering, 2013, Vol. 1, No. 7, 365-369 Available online at http://pubs.sciepub.com/ajme/1/7/42 Science and Education Publishing DOI:10.12691/ajme-1-7-42 Dynamic Analysis
More informationArticulated Robots! Robert Stengel! Robotics and Intelligent Systems! MAE 345, Princeton University, 2017
Articulated Robots! Robert Stengel! Robotics and Intelligent Systems! MAE 345, Princeton University, 2017 Robot configurations Joints and links Joint-link-joint transformations! Denavit-Hartenberg representation
More informationDesign Contemplation and Modelling of a Bi-Axial Manipulator
Design Contemplation and Modelling of a Bi-Axial Manipulator Shuprajhaa T t.shuprajhaa94@gmail.com Vaitheeshwari M, mvaithee3795@gmail.com Subasree S subasreesridhar.12@gmail.com Sivakumar S Assistant
More informationINTRODUCTION CHAPTER 1
CHAPTER 1 INTRODUCTION Modern mechanical and aerospace systems are often very complex and consist of many components interconnected by joints and force elements such as springs, dampers, and actuators.
More informationKINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS
KINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS Annamareddy Srikanth 1 M.Sravanth 2 V.Sreechand 3 K.Kishore Kumar 4 Iv/Iv B.Tech Students, Mechanical Department 123, Asst. Prof.
More informationTable of Contents. Chapter 1. Modeling and Identification of Serial Robots... 1 Wisama KHALIL and Etienne DOMBRE
Chapter 1. Modeling and Identification of Serial Robots.... 1 Wisama KHALIL and Etienne DOMBRE 1.1. Introduction... 1 1.2. Geometric modeling... 2 1.2.1. Geometric description... 2 1.2.2. Direct geometric
More informationCentre for Autonomous Systems
Robot Henrik I Centre for Autonomous Systems Kungl Tekniska Högskolan hic@kth.se 27th April 2005 Outline 1 duction 2 Kinematic and Constraints 3 Mobile Robot 4 Mobile Robot 5 Beyond Basic 6 Kinematic 7
More informationWhat is a Manipulator? 2007 RoboJackets TE Sessions 10/16/2007. Keys to Understanding Manipulators TE Sessions Manipulators 10/16/07
2007 TE Sessions Manipulators 10/16/07 www.robojackets.org Keys to Understanding Manipulators What is a manipulator? What kinds of manipulators are there? What are the different types of joints and linkages
More informationHigh-Accuracy Articulated Mobile Robots
High-Accuracy Articulated Mobile Robots 2017-01-2095 Timothy Jackson Electroimpact Inc. Published 09/19/2017 CITATION: Jackson, T., "High-Accuracy Articulated Mobile Robots," SAE Technical Paper 2017-01-2095,
More informationPPGEE Robot Dynamics I
PPGEE Electrical Engineering Graduate Program UFMG April 2014 1 Introduction to Robotics 2 3 4 5 What is a Robot? According to RIA Robot Institute of America A Robot is a reprogrammable multifunctional
More informationLecture Note 6: Forward Kinematics
ECE5463: Introduction to Robotics Lecture Note 6: Forward Kinematics Prof. Wei Zhang Department of Electrical and Computer Engineering Ohio State University Columbus, Ohio, USA Spring 2018 Lecture 6 (ECE5463
More informationDesign and Analysis of Voice Activated Robotic Arm
Design and Analysis of Voice Activated Robotic Arm Ajay Aravind S4 MTECH Government College of Engineering, Kannur ajayaravind05@gmail.com Dr. T.D. John PROFESSOR Government Engineering College, Kannur
More informationDOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT
DOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT V. BRODSKY, D. GLOZMAN AND M. SHOHAM Department of Mechanical Engineering Technion-Israel Institute of Technology Haifa, 32000 Israel E-mail:
More informationRobotics Prof. Dilip Kumar Pratihar Department of Mechanical Engineering Indian Institute of Technology, Kharagpur
Robotics Prof. Dilip Kumar Pratihar Department of Mechanical Engineering Indian Institute of Technology, Kharagpur Lecture 03 Introduction to Robot and Robotics (Contd.) (Refer Slide Time: 00:34) Now,
More informationMTRX4700 Experimental Robotics
MTRX 4700 : Experimental Robotics Lecture 2 Stefan B. Williams Slide 1 Course Outline Week Date Content Labs Due Dates 1 5 Mar Introduction, history & philosophy of robotics 2 12 Mar Robot kinematics &
More informationUsing Algebraic Geometry to Study the Motions of a Robotic Arm
Using Algebraic Geometry to Study the Motions of a Robotic Arm Addison T. Grant January 28, 206 Abstract In this study we summarize selected sections of David Cox, John Little, and Donal O Shea s Ideals,
More informationMOTION TRAJECTORY PLANNING AND SIMULATION OF 6- DOF MANIPULATOR ARM ROBOT
MOTION TRAJECTORY PLANNING AND SIMULATION OF 6- DOF MANIPULATOR ARM ROBOT Hongjun ZHU ABSTRACT:In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based
More informationMICRO-CONTROLLER BASED ROBOT ARM WITH THREE-DIMENSIONAL REACH
- 111 - MICRO-CONTROLLER BASED ROBOT ARM WITH THREE-DIMENSIONAL REACH R.A.D.M.P.Ranwaka 1, T. J. D. R. Perera, J. Adhuran, C. U. Samarakoon, R.M.T.P. Rajakaruna ABSTRACT Department of Mechatronics Engineering,
More informationPosition and Displacement Analysis
Position and Displacement Analysis Introduction: In this chapter we introduce the tools to identifying the position of the different points and links in a given mechanism. Recall that for linkages with
More informationOn the basis of degree of freedom of the arm and the type of joints used, a robotic arm can have any of the following designs:
Available online at www.sciencedirect.com ScienceDirect Procedia Manufacturing 20 (2018) 400 405 www.elsevier.com/locate/procedia 2nd International Conference on Materials Manufacturing and Design Engineering
More informationDevelopment of a Master Slave System with Force Sensing Using Pneumatic Servo System for Laparoscopic Surgery
2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007 WeC8.3 Development of a Master Slave System with Force Sensing Using Pneumatic Servo System for Laparoscopic
More informationLast 2 modules were about. What the other robot did : Robotics systems and science Lecture 15: Grasping and Manipulation
6.141: Robotics systems and science Lecture 15: Grasping and Manipulation Lecture Notes Prepared by Daniela Rus EECS/MIT Spring 2009 What the robot did over Spring break Reading: Chapter3, Craig: Robotics
More informationSingularity Management Of 2DOF Planar Manipulator Using Coupled Kinematics
Singularity Management Of DOF lanar Manipulator Using oupled Kinematics Theingi, huan Li, I-Ming hen, Jorge ngeles* School of Mechanical & roduction Engineering Nanyang Technological University, Singapore
More informationMobile Robots Locomotion
Mobile Robots Locomotion Institute for Software Technology 1 Course Outline 1. Introduction to Mobile Robots 2. Locomotion 3. Sensors 4. Localization 5. Environment Modelling 6. Reactive Navigation 2 Today
More informationUnderactuated Anthropomorphic Finger Mechanism for Grasping and Pinching with Optimized Parameter
Journal of Computer Science 6 (8): 928-933, 2010 ISSN 1549-3636 2010 Science Publications Underactuated Anthropomorphic Finger Mechanism for Grasping and Pinching with Optimized Parameter Norsinnira Zainul
More informationWIRELESS VEHICLE WITH ANIMATRONIC ROBOTIC ARM
WIRELESS VEHICLE WITH ANIMATRONIC ROBOTIC ARM PROJECT REFERENCE NO. : 37S0918 COLLEGE : P A COLLEGE OF ENGINEERING, MANGALORE BRANCH : ELECTRONICS & COMMUNICATION GUIDE : MOHAMMAD RAFEEQ STUDENTS : CHARANENDRA
More informationINVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR
INVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR Mohammad Afif Ayob 1, Wan Nurshazwani Wan Zakaria 1, Jamaludin Jalani 2 and Mohd Razali Md Tomari 1 1 Advanced Mechatronics Research Group
More informationChapter 2 Mechanisms Abstract
Chapter 2 Mechanisms Abstract This chapter begins with a description of the different types of mechanisms that are generally used, especially in industrial robots. The parameters and variables of the mechanisms
More informationReaching and Grasping
Lecture 14: (06/03/14) Reaching and Grasping Reference Frames Configuration space Reaching Grasping Michael Herrmann michael.herrmann@ed.ac.uk, phone: 0131 6 517177, Informatics Forum 1.42 Robot arms Typically
More informationPSO based Adaptive Force Controller for 6 DOF Robot Manipulators
, October 25-27, 2017, San Francisco, USA PSO based Adaptive Force Controller for 6 DOF Robot Manipulators Sutthipong Thunyajarern, Uma Seeboonruang and Somyot Kaitwanidvilai Abstract Force control in
More information