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SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK

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اقرأ أكثر حفظ في قائمتي
  • المؤلفون: Dević, Andrija; Vidaković, Jelena; Živković, Nikola; Lazarević, Mihailo
  • المصدر:
    9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
  • نوع التسجيلة:
    Electronic Resource
  • الدخول الالكتروني :
    https://machinery.mas.bg.ac.rs/handle/123456789/7235
    http://machinery.mas.bg.ac.rs/bitstream/id/18233/SDM2023____Devic__ID122.pdf
    https://hdl.handle.net/21.15107/rcub_machinery_7235
    info:eu-repo/grantAgreement/MESTD/inst-2020/200105/RS
    info:eu-repo/grantAgreement/MESTD/inst-2020/200066/RS
  • معلومة اضافية
    • Publisher Information:
      Belgrade: Serbian Society of Mechanics 2023
    • نبذة مختصرة :
      Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody.
    • الموضوع:
      desktop robot; design; virtual model; stepper motors; SolidWorks; Simscape Multibody; conferenceObject
    • Availability:
      Open access content. Open access content
      ARR
      openAccess
    • Note:
      9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
      English
    • Other Numbers:
      RSPST oai:machinery.mas.bg.ac.rs:123456789/7235
      978-86-909973-9-8
      1419785648
    • Contributing Source:
      UIVERSITY OF BELGRADE
      From OAIster®, provided by the OCLC Cooperative.
    • الرقم المعرف:
      edsoai.on1419785648
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