IOSR Journal of Engineering (IOSR-JEN) Volume 5 Issue 5 Version 3

Científica, 2021

The decoupled control of robots eases the generation of trajectories of position, speed and acceleration, as well as the combination of sequences of movement in the joints. The aim of this work is to develop an application for motion control, integrating a virtual model into a prototype SCARA manipulator of 4 DOF. The methodology consists: 1. Definition of the manipulator's workspace; 2. Preparation of the control diagram in LabVIEW; 3. Configuration and communication with Arduino hardware. 4. Development of the interface for simultaneous movements; 5. Configuration of the communication interface with SolidWorks. Developing such integration requires particular hardware characteristics that support simulation and communication environments between the different software mentioned, as well as the acquisition and processing of analog signals used in the control algorithm applied to the model, with Lagrange polynomials and direct and inverse kinematics modelling by the Denavit-Harte...

International Journal of Modern Research in Engineering and Technology

Pick and place task is one among the most important tasks in industrial field handled by "Selective Compliance Assembly Robot Arm" (SCARA). Repeatability with high-speed movement in horizontal plane is remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving stability of high-speed movement with long length of links. Shorter links arm can move more stable. This condition made the links should be considered restrict then followed by restriction of operation area (workspace). In this research, authors demonstrated on expanding SCARA robot's workspace in horizontal area via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint the previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint is become 4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m 2 performed by the previous arm (without linear actuator) to 1.1281m 2 by the propose arm (with linear actuator). The increasing rate was about 97.97% of workspace with the same links length. The result of experimentation also indicated that the operation time spent to reach object position was also reduced.

IEEE, 2015

SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.

Robotica, 1988

SUMMARYThe dynamics of a mechanical manipulator have the inherent characteristics of being highly non-linear and strongly coupled due to the interaction of the inertial, centripetal, coriolis and gravitational forces.These characteristics produce difficulties in predicting the dynamic behaviour of a given manipulator's structure. These interactive forces depend largely on the geometrical configuration and operational conditions of a manipulator. Therefore, it is essential to investigate the dynamics behaviour under different conditions in order to obtain an optimal design.This paper presents a study of the dynamics behaviour of a robot's arm with particular reference to the mechanical manipulator being designed by the AEAC. A computer software package has been developed to facilitate the investigation of the potential dynamics behaviour of a robot's arm and provides the designer with useful information for the real time control of high performance robots. This package al...

International Journal of Applied Mechanics and Engineering, 2023

For the synthesis of manipulators and robots, an accurate analysis of movements of the individual links is essential. This paper deals with motion planning of the effector of a multi-linked manipulator. An important issue in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of a multibody manipulator involves a combination of direct and inverse kinematics calculations, as well as control theory and optimization techniques. It is an important process enabling manipulators to perform complex tasks such as assembly, handling and inspection. In the design of robot kinematic structures, simulation programs are currently used for their kinematic and dynamic analysis. The proposed manipulator was first solved by inverse kinematics problem in MATLAB. Subsequently, the trajectories of the end-effector were determined in MATLAB by a direct kinematics problem. In Simulink, using the SimMechanics library, the inverse problem of dynamics was used to determine the trajectories of the moments.

Robot manipulators can be operated by two ways including teaching mode and automatic mode. The teaching mode requires an operator to input initial position and angle of each link for obtaining a destination. The automatic mode calculates angle of each link to move from an initial position to a destination. This paper proposed a simple method to operate robot manipulators in the automatic mode. The objective is focused on finding the solution of inverse kinematics of a robot. There are several manners in which forward kinematics and inverse kinematics are developed for robot manipulators. For example, Euler's equations describe the rotation of a rigid body about the axes of a moving referenced coordinate system, The Denavit-Hartenberg representation becomes the standard way of representing robot's motions. However, inverse kinematics equations formulated by beginners based on the two methods previously mentioned are prone to human error. The main reason is the difficulty to achieve correct equations without understanding on the real motion of manipulators. Therefore, a simple way to solve the inverse kinematics based on the principles of transformation geometry is demonstrated step-by-step using a case study. Then, solutions are computed by numerical methods using a spreadsheet application (Microsoft Excel). The given solutions are simulated in 3-Dimensional space to verify positions and to prevent collisions before operating the robot. 3D robotic motion simulation software is not necessary. Available Compute-Aided Design (CAD) applications can be applied for checking and displaying results of movement. The benefits of proposed concept are:

Mechanism and Machine Theory, 1995

The present paper solves the inverse kinematic problem of a spatial redundant or nonredundant manipulator taking into account as criteria the collision avoidance and the joint functionality limits, A simulating manipulator-obstacle model with convex volumes in order to avoid a collision is used. The solution of the inverse kinematics has been conducted by the penalty function method. The developed procedure is demonstrated by solving a spatial manipulator with five revolute joints and for the off-line programming of this manipulator, which is used in a work station for various manufacturing processes. The results obtained can be checked by graphical simulation of the manipulator motion, and guarantee for a prescribed position and orientation of the end-effector a collision avoidance, respecting the joint limits.

2020

Most of SCARA (Selective Compliance Articulated Robot Arm) direct drive robots today are equipped with a circular feedback system. The Resolved Motion Rate Control (RMRC) method increases the accuracy and compensates the lack of movement transmission system in accurate pick and place actions. In this study, a pick-and-place SCARA robot is developed by using a developed robot manipulator arm and controlling with its designed control systems. To make the end-effector of the SCARA robot arm following desired positions with specified joint velocities, the inverse kinematics technique, known as the RMRC generates motion trajectories automatically. In this research, the kinematics method has been applied with the Jacobian pseudo-inverse or Jacobian singularity-robust inverse to generate and record the pick-and-place motion of the SCARA robot. These records are then compared with the records after using RMRC methods. Several system features like the variation of samples during 50 seconds f...

2011

Kinematics analysis is divided into: forward and inverse kinematics. Forward kinematics showed how to determine the end-effector position and orientation in terms of the joint variables. The problem of inverse kinematics is to find the joint variables in terms of the end-effector position and orientation. The Jacobian presents the relation between the joint and the end effector position velocities. The paper shows the kinematics of the SCARA robot with four degrees of freedom, the four degrees are different from others. The paper shows the kinematics of the cylindrical robot with three degrees of freedom.