NDLI: Design and Analysis of six DOF Robotic Manipulator

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Design and Analysis of six DOF Robotic Manipulator

Content Provider	Scilit
Author	Pratheep, V. G. Chinnathambi, M. Priyanka, E. B. Ponmurugan, P. Thiagarajan, Pridhar
Copyright Year	2021
Description	Journal: Iop Conference Series: Materials Science and Engineering The robotic manipulators are nowadays used for many applications in the industries. This project involves the design and analysis of a six DOF manipulator for welding, pick and place application. We developed a robot in Solid Works and analysed it motion, load withstanding capacity and path traceability. However, design and analysis of a robot involves modelling of it forward and inverse kinematics. We modelled the forward and inverse kinematics by D-H parameters. The proposed model makes it possible to control the manipulator to achieve any reachable position and orientation in an unstructured environment. The inverse kinematics provided many possible combinations of angles for a single end effector position. A GUI was created in MATLAB for studying the forward and inverse kinematics of the robot. It gave results with precision of 0.2 cm. the load analysis also gave the maximum load it can withstand 200 KN without permanent deformation. The approach presented in this work can also be applicable to solve the kinematics problem of other similar kinds of robot manipulators.
Related Links	https://iopscience.iop.org/article/10.1088/1757-899X/1055/1/012005/pdf
ISSN	17578981
e-ISSN	1757899X
DOI	10.1088/1757-899x/1055/1/012005
Journal	Iop Conference Series: Materials Science and Engineering
Issue Number	1
Volume Number	1055
Language	English
Publisher	IOP Publishing
Publisher Date	2021-02-01
Access Restriction	Open
Subject Keyword	Journal: Iop Conference Series: Materials Science and Engineering Manufacturing Engineering Robot Manipulators
Content Type	Text
Resource Type	Article

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