MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS

This paper presents the modeling problem connected with the autonomous transport vehicle designed at Hochschule Ravensburg-Weingarten. The forward and inverse kinematics problem of eight-wheeled autonomous transport vehicle have been formulated and solved, additionally examples of simulation results representing the changes of individual motion parameters have been presented. Contact phenomenon between foundation and drive wheel has been taken into account in the kinematics model. Motion trajectory and velocity of the selected point belonging to the platform have been intended while the inverse kinematics problem has been solved. The forward kinematics problem has been worked out in order to verify correctness of the studied kinematics model. The presented simulation results point out compatibility of the worked out kinematics model of investigated object. The worked out models allow carrying out analysis of object motion through simulation investigations on the basis of proposed computational model.

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Simulation of a parallel mechanical elbow with 3 DOF

Journal of Applied Research and Technology ◽

10.22201/icat.16656423.2009.7.02.494 ◽

2009 ◽

Vol 7 (02) ◽

Cited By ~ 3

Author(s):

J. R. Mendoza-Vázquez ◽

E. Tlelo-Cuautle ◽

J.L. Vázquez-Gonzalez ◽

A. Z. Escudero-Uribe

Keyword(s):

Inverse Kinematics ◽

Parallel Mechanism ◽

Degrees Of Freedom ◽

Mechanical Support ◽

Simulation And Modeling ◽

Matlab Simulation ◽

Geometric Methods ◽

Kinematics Simulation ◽

Linear Actuators ◽

Simulation Results

The kinematics simulation and modeling of a mechanical elbow of 3 degrees of freedom, is introduced by highlighting the main features of the mechanism related to the design criteria. The mechanical elbow is used as a transhumeral prosthetic part, and it has been built as a parallel topology consisting of electric linear actuators and universal joints. The parallel mechanism has 4 legs. 3 are electric linear actuators, and the fourth leg provides mechanical support for the whole structure and holds a DC Motor that performs the action of gripping objects. Furthermore, this paper shows the inverse kinematics for the elbow by geometric methods, and the MatLab‐simulation results show the workspace of the movement and the ability of the mechanical elbow to replicate the movements of a biological one.

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A DOBOT Manipulator Simulation Environment for Teaching Aim with Forward and Inverse Kinematics

Lecture Notes in Electrical Engineering - CONTROLO 2020 ◽

10.1007/978-3-030-58653-9_29 ◽

2020 ◽

pp. 303-312

Author(s):

Thadeu Brito ◽

José Lima ◽

João Braun ◽

Luis Piardi ◽

Paulo Costa

Keyword(s):

Inverse Kinematics ◽

Simulation Environment ◽

Forward And Inverse Kinematics

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Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.762.305 ◽

2015 ◽

Vol 762 ◽

pp. 305-311

Author(s):

Mihai Crenganis ◽

Octavian Bologa

Keyword(s):

Fuzzy Logic ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Cad Model ◽

Redundancy Resolution ◽

The Real ◽

Kinematics Simulation ◽

Inverse Kinematics Problem ◽

Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

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Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.657.823 ◽

2014 ◽

Vol 657 ◽

pp. 823-828

Author(s):

Mihai Crenganis ◽

Radu Eugen Breaz ◽

Sever Gabriel Racz ◽

Octavian Bologa

Keyword(s):

Inverse Kinematics ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Cad Model ◽

The Real ◽

Kinematics Simulation ◽

Inverse Kinematics Problem ◽

Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

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Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

Mathematical Problems in Engineering ◽

10.1155/2015/906505 ◽

2015 ◽

Vol 2015 ◽

pp. 1-10

Author(s):

Bui Thi Hai Linh ◽

Ying-Shieh Kung

Keyword(s):

Integrated Circuits ◽

Inverse Kinematics ◽

High Speed ◽

Robot Arm ◽

Hardware Realization ◽

Finite State ◽

Motion Speed ◽

Forward And Inverse Kinematics ◽

Articulated Robot ◽

Five Axis

When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL) is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM) is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

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Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.555.320 ◽

2014 ◽

Vol 555 ◽

pp. 320-326 ◽

Cited By ~ 1

Author(s):

Mihai Crenganis ◽

Radu Breaz ◽

Gabriel Racz ◽

Octavian Bologa

Keyword(s):

Fuzzy Logic ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Cad Model ◽

The Real ◽

Fuzzy Models ◽

Kinematics Simulation ◽

Inverse Kinematics Problem ◽

Mathematical Equations

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

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A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

Robotics ◽

10.3390/robotics8030051 ◽

2019 ◽

Vol 8 (3) ◽

pp. 51 ◽

Cited By ~ 5

Author(s):

Yeshmukhametov ◽

Koganezawa ◽

Yamamoto

Keyword(s):

Inverse Kinematics ◽

Tension Control ◽

Passive Tension ◽

Robot Arm ◽

Continuum Robot ◽

Continuum Structure ◽

Forward And Inverse Kinematics ◽

The Wire ◽

Pushing And Pulling ◽

The Continuum

Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.

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