Application of software packages on the parametric study of serial-driven planar manipulators

Abstract

In this work, the kinetic and kinematic variables of serial-driven planar manipulators (also known as RR planar manipulators) were studied to achieve optimization in its performance through a parametric analysis. To do so, the equations that define the behavior of these mechanisms were programmed using the Octave software package, and some variations were made in input parameters, such as torque and forces, to study their influence on the kinetic parameters of the mechanism; to validate the obtained results, these were compared with the analytical solution, to guarantee the prediction capacity of the simulations. The results obtained by using the simulation package shared the same behavior as the results obtained through the application of the theoretical model, with a little deviation from the theoretical results (less than 3%). Besides that, the program code allowed to obtain results to a higher speed than the solution of theoretical equations (harder to solve at hand) with the same accuracy, which is an important parameter when optimization processes are required.