Search published articles
Showing 2 results for Inverse Kinematics
Mohammad Ghafoori Varzaneh, Fatemeh Yousefifar, Mohammad Mahdi Jalili,
Volume 14, Issue 2 (5-2014)
Abstract
Inspired by the muscle arrangement of the octopus and skeleton of the snakes, a wire-driven serpentine robot arm has been simulated and constructed in this article. The robot links which are connected via flexible beam act as the snake backbone. Instead of using motors at each joint, four sets of wire are employed as octopus muscles to drive the robot arm. For the spatial inverse kinematics, after determining the generalized coordinates of the system, governing algebraic equations of the system including constraint equations of the joints and cables and favorable movements have been determined. For displacement analysis, these equations have been solved using the Newton-Raphson method. Using this method robot workspace has also been determined. For the inverse dynamics of the robot, cables tension force has been considered as external forces. Using Embedding technique with specified constraint matrix, mass matrix and acceleration vectors that are determined from inverse kinematics, cables tension force and torque of motors are specified. To validate the snake robot model, a prototype has been built and programmed for some circular and arcuate routs. Travelled pass by end effector have been obtained. Comparing the results with the desired path, accuracy of the designed robot has been investigated.
A. Rouhollahi , M. Azmoun, M. Tale Masouleh, A. Kalhor,
Volume 19, Issue 1 (1-2019)
Abstract
This article investigated design and construction of a 4-DOF delta parallel robot’s components and additionally inverse kinematics and kinematics control of the robot. The initial and final version of the robot based on existing needs, the addition of gearboxes due to the low torque of motors, and flange transformations to connect the gearbox to the robot's base were also discussed. In the following, by simulating the robot in MATLAB software, the integrity of the inverse kinematic equation of the robot was investigated. In the other part, the design of the kinematic control in the joint space was discussed and the results were plotted in the graphs for a z-direction. By designing a suitable robot controller, tracing the desired path and comparing its results with other controllers become possible. By designing a conveyor for the robot and equipping it with a camera, detecting the objects that the robot moves them become possible with image processing. For the purpose of picking and placing the objects, the robot's end effector is equipped with a controlled suction. The results, through which the paths crossed, showed the designed PID controller for the robot was working correctly and the desired path was followed with small error.
