Papers by Keyword: Robot Modeling

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Authors: G. Shanmugasundar, M. Rajmohan, R. Sivaramakrishnan
Abstract: Robots are playing a vital role in now a day in the field of manufacturing and component inspection. In general the hazardous environments as nuclear waste disposal, robots are really a high demand machine as an implementation of automation concepts that helpful to rectify the human errors and give more safety. In a view to meet such needs, this paper features the optimized new design of mechanical configuration of the robot suitable for inspection of outer surface welds present in the steel storage canister at nuclear industry with the help of NDT equipment. The effective utilization of universal joints and screw jack mechanisms at the base gives the higher order of degree of freedom when compare with currently available robots. The selection of the mechanical components and its comparison with the existing method is explained in brief. This paper describes the successive design calculations of major elements of manipulator. Generally, the purpose of this paper is to describe the importance of computer aided modelling of a robot mechanism and also state the advantage of development of software coding for difficult manual design. The MATLAB program was utilized to perform the automatic design calculation of manipulator Parts which gives the added advantage for this research effort.
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Authors: G. Shanmugasundar, R. Sivaramakrishnan, R. Sridhar, M. Rajmohan
Abstract: This paper describes the method for computer aided modelling of the newly designed robot with the aid of 3D modelling software. The static analysis of the designed robot also done by using the analysis software. The conventional design procedures of the elements of the mechanical configurations of the robot base and arm explained in exhaustive manner. Nuclear waste storage steel canisters are often required regular maintenance and surface inspection in order to ensure the goodness of the canisters. In this research work also the designed robot is doing the same task with the help of NDT system available at the end of the arm. However, these types of robot manipulators suffer from different payload capacity and relatively some amount of end point deflections. Through the static analysis the stability of the robot manipulator is proved. This paper features the optimized new design of mechanical configuration of the robot suitable for inspection of outer surface welds present in the steel storage canister at nuclear industry with the help of NDT equipment. The effective utilization of knuckle joints and screw jack mechanisms at the base gives the higher order of degree of freedom when compare with currently available robots.
1055
Authors: Mohamed Laid Hadjili, Kamel Kara, Oussama Ait Sahed, Jamal Bouyanzar
Abstract: In this work a fuzzy model-based predictive control (FMPC) method that uses modified particle swarm optimization (PSO) is presented. The main objective of this work is the application of this method to the control of a Selective Compliant Assembly Robot Arm (SCARA) with four degrees of freedom (4-DOF).
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Authors: Stelian Popa, Alexandru Dorin, Florin Adrian Nicolescu, Andrei Mario Ivan
Abstract: This article follows a detailed description of development and validation for the direct kinematic model of six degrees of freedom articulated arm robot - Kawasaki FS10E model. The development of the kinematic model is based on widely used Denavit-Hartenberg notation, but, after the initial parameter identification, the mathematical algorithm itself follows an approach that uses the quaternion number system, taking advantage of their efficiency in describing spatial rotation - providing a convenient mathematical notation for expressing rotations and orientations of objects in three-dimensional space. The proposed algorithm concludes with two quaternion-based relations that express both the position of robot tool center point (TCP) position and end-effector orientation with respect to robot base coordinate system using Denavit-Hartenberg parameters and joint values as input data. Furthermore, the developed direct kinematic model was validated using the programming and offline simulation software Kawasaki PC Roset.
249
Authors: Zhen Yu Liu, Ji You
Abstract: Visual simulation technology is still playing an important role in the robot design and research field. This article establishes a robot palletizing simulation system visualization based on VisualC++ and OpenGL programming tool. This system synthetically evaluates the man-machine interface, the robot three-dimensional modeling and environmental modeling. In addition, modeling of robot is divided into two parts static modeling and kinematic modeling. Finally, for the purpose of the robot movement trajectory and collision avoidance behavior in the palletizing system, it provides numerous theoretical and practical bases.
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