Manufacture of a 4-Degree-of-Freedom Robot to Support an IRB 120 Robot DOI Creative Commons
Ricardo Balcázar, José de Jesús Rubio, Mario Hernández

и другие.

Actuators, Год журнала: 2024, Номер 13(12), С. 483 - 483

Опубликована: Ноя. 28, 2024

In this work, we present the construction and control of a four-degrees-of-freedom (DOF) manipulator aimed at addressing one key challenges faced by Academy-Industry Cooperation Center (CCAI): need for mechatronic equipment to support facilitate development advanced robotic cells. We begin designing robot’s structure components using SolidWorks software computer-aided design (CAD) modeling. This ensures that all links parts fit together properly without collisions. The robot are then manufactured 3D printing. Additionally, performed kinematic modeling, dynamic analysis, PI-V control, along with trigonometric function (hyperbolic tangent). To evaluate movement, simulate these processes Matlab R2019a/Simulink software, focusing on parameters such as position, velocity, acceleration, which inform each link. also electrical electronic designs, followed system implementation. kinematics play crucial role in dynamics controller design. validate Peter Corke’s libraries based Denavit–Hartenberg parameters. results show improves response time, particularly enhancing performance axes 2 3.

Язык: Английский

Design, mathematical modeling and dynamic dimension synthesis for a modular parallel robot with end-articulated structure DOI
Dong Liang, Tianyou Liu, Yimin Song

и другие.

Applied Mathematical Modelling, Год журнала: 2025, Номер unknown, С. 116058 - 116058

Опубликована: Март 1, 2025

Язык: Английский

Процитировано

0
Manufacture of a 4-Degree-of-Freedom Robot to Support an IRB 120 Robot DOI Creative Commons
Ricardo Balcázar, José de Jesús Rubio, Mario Hernández

и другие.

Actuators, Год журнала: 2024, Номер 13(12), С. 483 - 483

Опубликована: Ноя. 28, 2024

In this work, we present the construction and control of a four-degrees-of-freedom (DOF) manipulator aimed at addressing one key challenges faced by Academy-Industry Cooperation Center (CCAI): need for mechatronic equipment to support facilitate development advanced robotic cells. We begin designing robot’s structure components using SolidWorks software computer-aided design (CAD) modeling. This ensures that all links parts fit together properly without collisions. The robot are then manufactured 3D printing. Additionally, performed kinematic modeling, dynamic analysis, PI-V control, along with trigonometric function (hyperbolic tangent). To evaluate movement, simulate these processes Matlab R2019a/Simulink software, focusing on parameters such as position, velocity, acceleration, which inform each link. also electrical electronic designs, followed system implementation. kinematics play crucial role in dynamics controller design. validate Peter Corke’s libraries based Denavit–Hartenberg parameters. results show improves response time, particularly enhancing performance axes 2 3.

Язык: Английский

Процитировано

0