scholarly journals Kinematics Analysis and Simulation of A 5DOF Articulated Robotic Arm Applied to Heavy Products Harvesting

2018 ◽  
pp. 91-104 ◽  
Author(s):  
Ali ROSHANIANFARD ROSHANIANFARD ◽  
Noboru NOGUCHI
Keyword(s):  
Robotic Arm ◽  
Kinematics Analysis

7-DOF Cable-Driven Humanoid Robotic Arm

2011 ◽  
Author(s):  
Jun Ding ◽  
Robert L. Williams
Keyword(s):  
Linear Programming ◽  
Robotic Arm ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Kinematics Analysis ◽  
End Effector ◽  
Motion Range ◽  
Potential Benefits ◽  
Redundant Mechanism ◽  
Joint Limits

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

Design and Kinematics Analysis of Planetary Sampling Manipulator with Lightweight

2014 ◽  
Vol 681 ◽  
pp. 86-89
Author(s):  
Xiao Xiao Sun ◽  
Bing Wei Zhang ◽  
Jia Ju Liu ◽  
Qiao Chen
Keyword(s):  
Energy Efficiency ◽  
Power Consumption ◽  
Low Power ◽  
Robotic Arm ◽  
Low Power Consumption ◽  
Kinematics Analysis ◽  
Kinematics Simulation ◽  
Stability Principle ◽  
Simulation Results ◽  
And Robotics

To reduce launching load of rocket and power consumption of rover, design of sampling manipulator was proposed which was lightweight, low-power consumption and multifunctional. Stability principle of triangle was used to comprise stable structure between robotic arm and locking device. And the weight of planetary rover was effectively reduced and its energy efficiency was greatly improved by combining manipulator and mast lifting stereo camera into one. Forward and inverse formulas were built by using D-H method and Robotics Toolbox was used for kinematics simulation. The simulation results indicate that the design of samping manipulator is reasonal which meets the purposes of lightweight and low power consumption.

scholarly journals Kinematics Analysis of 5 DOF Robotic Arm

2020 ◽  
Vol 38 (3A) ◽  
pp. 412-422
Author(s):  
Tahseen F. Abaas ◽  
Ali A. Khleif ◽  
Mohanad Q. Abbood
Keyword(s):  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Maximum Error ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Algebraic Solution ◽  
Kinematics Analysis ◽  
End Effector ◽  
Position And Orientation

This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.

scholarly journals Kinematics Analysis of Manipulator using Soft Computing Technique

2019 ◽  
Vol 9 (1) ◽  
pp. 996-1003
Keyword(s):  
Inverse Kinematics ◽  
Firefly Algorithm ◽  
Robotic Arm ◽  
Kinematics Analysis ◽  
Home Position ◽  
Computing Technique ◽  
Industrial Robotics ◽  
Spherical Wrist ◽  
Soft Computing Technique ◽  
Six Dof

In this paper, the analysis and modeling of six joint axes of a robotic arm having three DOF spherical arm and three DOF spherical wrist have been done to solve the kinematics and inverse kinematics. Kinematics provides the rational explication of a robotic manipulator. For the analysis of industrial robotics manipulator a particular type of kinematics model is required. The Denavit Hartenberg criterion has been used to solve the kinematics equations. MATLAB, Firefly Algorithm (FFA) and Roboanalyzer have been used to get the home position and differences in error at different values of six-DOF manipulator. Error can be optimized to as low as 10-17with the firefly algorithm.

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