Design and kinematic analysis of spherical robot arm and pneumatic driven gripper
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Keywords:
Spherical Robot, Gripper Design, Robot Kinematics, Robot Dynamics, Trajectory Planning, Industrial Robotic ArmAbstract
In this study, a global robotic arm was investigated. A pneumatic-controlled end-effector (gripper) design was developed for the gripping component of the robotic arm. The assembly of the completed robotic arm was simulated using a CAD program, addressing assembly conflicts and dimensional errors. Mechanical and electrical assemblies were carried out, and the connections to the microcontroller were established, rendering the robotic arm operational. To determine the coordinate values of the end effector and for the forward kinematic calculations of the robotic arm, the Denavit-Hartenberg method was employed. Inverse kinematic calculations were performed to compute the joint angle values necessary for the end effector to reach target coordinate values. The torque for each joint of the robotic arm was obtained using the Lagrange-Euler method, along with the overall mass matrix of the robotic arm, the inertia tensor of the links, the gravitational acceleration, and the Coriolis and centripetal force vectors. The dynamic equations derived from the Lagrange-Euler method and the trajectory planning equations were defined in the Matlab-Simulink environment. Graphs were generated in the Simulink section. The solid model designed in SolidWorks was imported into Matlab-Sim Mechanics for visual simulation. The kinematic equations and planned trajectory equations were integrated into the program. The equations within the program facilitated the position control of the robotic arm. The robotic arm underwent tests for repeatability and accuracy following the establishment of position control. Subsequently, the microcontroller connections were made to verify the precision of the end effector's coordinate values.
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