Kinematics and dynamic analysis of a 3-Axis spatial robot manipulator

PRIYABRATA CHATTOPADHYAY

Abstract


The idea behind the development of 3-axis (3-DOF) manipulator is to build a serial link mechanism, which would yield structural rigidity and balanced load distribution. The CAD/CAM tools have been used to design this robot manipulator. All design issues which addresses above objectives are analyzed from the simulation point of view. Trajectory planning plays an important role in the operation of robot manipulators. Trajectory of a manipulator is either defined in joint space or in Cartesian space. The path planning of this experimental manipulator using joint space have been investigated and presented in this paper. The aim is to generate a trajectory from start to finish that satisfies objectives, such as minimum traveling distance, minimum time of travel, less energy consumption while satisfying the robot’s kinematics and dynamics. Both kinematics and dynamic model formulations used for the design of robot manipulator have been discussed. Several software applications have been used to model and analyze the manipulator parts. The analysis of both kinematics and dynamics aspects has been carried out in dynamic simulation software. Stress and deflection analysis of each link of the manipulator assembly has been done in simulated environment. Data obtained from the simulation analysis have been used for finalization of geometric parameters such as payload carrying capacity, speed of each link, minimum weight, resolution, repeatability as well as rigidity. Though the exercise has been done on a lab-scale prototype, knowledge so generated can easily be implemented on a fully functional manipulator.

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