Theoretical and Experimental Research on Sequential RPP Manipulator

Abstract:

The paper deals with the analysis of a RPP sequential manipulator designed to be used for handling different loads, bringing them to a preset position. This manipulator is used to automating the store and transfer loads for improving working condition, avoid using human operations that require low-skills and reducing the risk of accidents. In the beginning, we performed a structural analysis of the manipulator. It has all the features of any industrial robots. Afterwards, we carried out a study of kinematics and dynamics for this RPP manipulator, using a simulation software package. The simulation results can be used for various purposes such as: trajectory calculation of characteristic point depending of variable couplings; determining whether to change the parameters of particular joint for achieving a certain trajectory of characteristic point; finding the force needed in joints to achieve a certain end-effectors trajectory; finding the kinematics of joint according to the driving force. This study is necessary to command and control system in order to obtain the desired motion. It also allows the choice of actuators of the manipulators. An experimental research was further conducted with the main goal to determine the motion law for the manipulator cinematic joints. We used Hottinger equipment consisting of transducers, amplifiers and a computer, using a parallel connection, data acquisition, type system. Eventually, with respect to the simulation and experimental research, we provide an algorithm for analyzing a sequential manipulator. It can be used to determine the forces that should act within the cinematic joints in order to get a certain trajectory of a characteristic point (that allows choosing the driving system during the design phase of manipulators or checking the driving system if the manipulator is already manufactured).

• Periodical: Advanced Materials Research (Volume 1036)
• Pages: 726-731
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1036.726
• Online since: October 2014
• Authors: Constantin Ovidiu Ilie*, Dănuț Grosu, Oana Mocian, Florin Constantin-Oloeriu, Valentin Vânturiș
• Keywords: Dynamic, Experimental Research, Kinematics, Sequential Manipulator, Simulation

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