WSEAS Transactions on Applied and Theoretical Mechanics
Print ISSN: 1991-8747, E-ISSN: 2224-3429
Volume 14, 2019
Dynamics of the Designed Robotic Manipulator in the CAD Program
Authors: ,
Abstract: The subject of this paper is the development of a remote control system for the arm of the robot with three degrees of freedom. The robot’s control system uses an interface developed in the Matlab/Simulink programming environment based on a model designed in the CAD program, based on the process of registering natural movements of the human hand by properly defining the input quantities. The designed system, characterized in the above manner, enables control of a robotic manipulator with three degrees of freedom. The main goal of the work is to emphasize the dynamics of the manipulator on the basis of the created mathematical model defining the movement of the arm of the robot with three degrees of freedom and presenting the results of simulation tests. In view of the above, the article presents the design of a dynamic manipulator model and a model was built in the CAD program in the SolidWorks environment for the arm of the robot. The kinematic model of the manipulator was discussed with the use of joints and connectors, which in the set provide the movement of its arm with three degrees of freedom. In the final part of the work, based on a critical analysis of the research subject literature, created mathematical model of a robot manipulator and performed simulations in the Matlab/Simulink environment, and using Simulink/SimMechanics and Simulink 3D Animation in developing a simulation virtual robot model, final conclusions
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Keywords: Dynamics of the robotic manipulator, the arm of the robot, programming environment, control object, degrees of freedom, proportional-integral-derivative (PID), mathematical model, virtual environment
Pages: 66-74
WSEAS Transactions on Applied and Theoretical Mechanics, ISSN / E-ISSN: 1991-8747 / 2224-3429, Volume 14, 2019, Art. #7