Modelling and simulation of multi spindle drilling redundant SCARA robot using SolidWorks and MATLAB/SimMechanics

被引：8

作者：

Mariappan, Saravana Mohan ^{[1
]}

Veerabathiran, Anbumalar ^{[1
]}

机构：

[1] Velammal Coll Engn & Technol, Dept Mech Engn, Madurai Rameshwaram High Rd, Madurai 625009, Tamil Nadu, India

来源：

REVISTA FACULTAD DE INGENIERIA-UNIVERSIDAD DE ANTIOQUIA | 2016年 / 81期

关键词：

SCARA; multi spindle drilling tool; SolidWorks; SimMechanics; dynamic; simulation; mechanics explorer;

D O I：

10.17533/udea.redin.n81a06

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The robots are electromechanical systems that need mechatronic approach before manufacturing them, in order to reduce the development cost. In this paper, a novel attempt of Modelling PRRP (Prismatic-Revolute-Revolute-Prismatic), configuration redundant SCARA (Selective Compliance Articulated Robot Arm), robot with a Multi spindle drilling tool (MSDT) using SolidWorks CAD software, and the dynamic study with the aid of MATLAB/SimMechanics is presented. The SCARA with MSDT is used to drill multiple holes in the printed circuit boards (PCBs) and sheet metal. In this work, the 3D CAD model of the proposed robot is converted into SimMechanics block diagram by exporting it to the MATLAB/SimMechanics second generation technology environment. Then, SimMechanics simulation is performed and by utilizing its motion sensing capability, the dynamic parameters velocity and torque of the manipulator are observed for modified variable robot structure. The simulation results indicate the considerable change in the dynamic performance for varying design parameters.

引用

页码：63 / 72

页数：10

共 50 条

[21] Modelling and Simulation of the Pyroelectric Detector Using MATLAB/Simulink
Odon, A.
MEASUREMENT SCIENCE REVIEW, 2010, 10 (06): : 195 - 199
[22] Redundant Robot Control Using Multi Agent Reinforcement Learning
Perrusquia, Adolfo
Yu, Wen
Li, Xiaoou
2020 IEEE 16TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 2020, : 1650 - 1655
[23] Redundant Robot Control Using Multi Agent Reinforcement Learning
Perrusquia, Adolfo
Yu, Wen
Li, Xiaoou
IEEE International Conference on Automation Science and Engineering, 2020, 2020-August : 1650 - 1655
[24] SIMULATION AND VISUALIZATION OF DYNAMIC SYSTEMS IN VIRTUAL REALITY USING SOLIDWORKS, MATLAB/SIMULINK, AND UNITY
Akharas, Ismail
Hennessey, Michael P.
Tornoe, Eric J.
PROCEEDINGS OF THE ASME 2020 INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, IMECE2020, VOL 7A, 2020,
[25] Kinematic Modeling and Simulation of an Economical SCARA Manipulator by Pro-E and Verification using MATLAB/Simulink
Gulzar, Muhammad Majid
Murtaza, Ali Faisal
Ling, Qiang
Javed, Muhammad Yaqoob
Rizvi, Syed Tahir Hussain
Rana, Raiz Ahmad
2015 INTERNATIONAL CONFERENCE ON OPEN SOURCE SYSTEMS & TECHNOLOGIES (ICOSST), 2015, : 102 - 107
[26] THE DYNAMIC MODELLING OF THE ROBOT MECHANICAL STRUCTURE USING THE SYMBOLIC COMPUTATION IN MATLAB
Detesan, Ovidiu-Aurelian
ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2013, 56 (04): : 659 - 664
[27] THE KINEMATICAL MODELLING OF THE ROBOT MECHANICAL STRUCTURE USING THE SYMBOLIC COMPUTATION IN MATLAB
Detesan, Ovidiu-Aurelian
Ispas, Virgil
ANNALS OF DAAAM FOR 2009 & PROCEEDINGS OF THE 20TH INTERNATIONAL DAAAM SYMPOSIUM, 2009, 20 : 287 - 288
[28] Mathematical Modelling and Simulation of Photovoltaic Module using MATLAB/SIMULINK
Yadav, Nupur
Sambariya, D. K.
2018 9TH INTERNATIONAL CONFERENCE ON COMPUTING, COMMUNICATION AND NETWORKING TECHNOLOGIES (ICCCNT), 2018,
[29] Deterministic modelling and stochastic simulation of biochemical pathways using MATLAB
Ullah, M
Schmidt, H
Cho, KH
Wolkenhauer, O
IEE PROCEEDINGS SYSTEMS BIOLOGY, 2006, 153 (02): : 53 - 60
[30] Kinematics/Dynamics Analysis with ADAMS/MATLAB Co-simulation of a SolidWorks Designed Spatial Robot Arm with Control and Validation of Results
Kumar, Vikash
MACHINES, MECHANISM AND ROBOTICS, INACOMM 2019, 2022, : 1197 - 1209

← 1 2 3 4 5 →