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Fig. 5: Velocity profiles on the longitudinal and transversal directions of the end-effector.

Figure 5 Velocity profiles on the longitudinal and transversal directions of the end-effector.

Related Figures (6)

a model of spray deposition onto the surface and The major deficiency of the actual manufacturing processes of the solar cells is energy consuming, costly production and their complexity. A new technological production process is desired. Latest the research and manufacture of solar cells is focusing on using spray pyrolysis deposition (SPD). The principle of the SPD technique is: when a precursors’ solution is atomized small droplets splash and vaporize on a substrate and leave dray precipitate in which thermal decomposition occurs (figure 1).
a model of spray deposition onto the surface and The major deficiency of the actual manufacturing processes of the solar cells is energy consuming, costly production and their complexity. A new technological production process is desired. Latest the research and manufacture of solar cells is focusing on using spray pyrolysis deposition (SPD). The principle of the SPD technique is: when a precursors’ solution is atomized small droplets splash and vaporize on a substrate and leave dray precipitate in which thermal decomposition occurs (figure 1).
Fig. 2: The desired trajectory by using IRB 2400L robot. Inverse kinematics problem (IKP) consists in determining the joint motion corresponding to a prescribed end-effector motion [4, 5]. Determining the inverse kinematics solution for a robot manipulator can be a very difficult task. The application is made for a 6 DOF system by using a virtual prototyping model that contains specific software solutions in the engineering concept as follows: CATIA for developing the geometric model of the robotized system and ADAMS/View for analyzing the system. The modelling activity involves the creation of geometric models with attributes representing physical properties. The 3D CAD model for the robotic system has been converted into a multibody model. For the multibody model, revolute joints are used between parts. In figure 1 is shown the ADAMS model which was developed by using MBS (Multi Body Svstems).
Fig. 2: The desired trajectory by using IRB 2400L robot. Inverse kinematics problem (IKP) consists in determining the joint motion corresponding to a prescribed end-effector motion [4, 5]. Determining the inverse kinematics solution for a robot manipulator can be a very difficult task. The application is made for a 6 DOF system by using a virtual prototyping model that contains specific software solutions in the engineering concept as follows: CATIA for developing the geometric model of the robotized system and ADAMS/View for analyzing the system. The modelling activity involves the creation of geometric models with attributes representing physical properties. The 3D CAD model for the robotic system has been converted into a multibody model. For the multibody model, revolute joints are used between parts. In figure 1 is shown the ADAMS model which was developed by using MBS (Multi Body Svstems).
In this case of the anthropomorphic spraying robot the number of joints is n=6 and all coordinates are rotation angles. The driving torques result from the applied robot actuators. DC motors are used to drive robot joints. The drive requirements of the robotic system are determined from inverse kinematic analysis within MSC ADAMS. In ADAMS/View to generate the desired trajectory it was used the General Point Motion [9].To specify the motion was used step expressions for the longitudinal and transversal directions at the end-effector robot. To observe the end-effector motion it was inserted measures for the both directions (longitudinal and transversal). The basic concept of the approach is that we record the joint motions at the master model that correspond to the desired end-effector motion, and then imposed these motion laws to a slave model.
In this case of the anthropomorphic spraying robot the number of joints is n=6 and all coordinates are rotation angles. The driving torques result from the applied robot actuators. DC motors are used to drive robot joints. The drive requirements of the robotic system are determined from inverse kinematic analysis within MSC ADAMS. In ADAMS/View to generate the desired trajectory it was used the General Point Motion [9].To specify the motion was used step expressions for the longitudinal and transversal directions at the end-effector robot. To observe the end-effector motion it was inserted measures for the both directions (longitudinal and transversal). The basic concept of the approach is that we record the joint motions at the master model that correspond to the desired end-effector motion, and then imposed these motion laws to a slave model.
Fig. 4: Position profiles on the longitudinal and transversal directions of the end-effector.
Fig. 4: Position profiles on the longitudinal and transversal directions of the end-effector.
The motion laws are obtained for Joints 1, 2, 3, 4, 5 and 6, as presented in figure 6.
The motion laws are obtained for Joints 1, 2, 3, 4, 5 and 6, as presented in figure 6.
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