Forward and Inverse Kinematics for a Novel Double Scara Robot

Shen, Haoyu; Liu, Yanli; Wu, Hongtao; Hu, Chunlong; Wang, Shuai

doi:10.1088/1755-1315/170/4/042088

Cited by 5 publications

(4 citation statements)

References 6 publications

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“…In the second joint matrix there are two parameters represented with one homogeneous matrix each, a rotational matrix in the axis Z 𝑅 𝑧𝑖 (𝜃 𝑖 ) one translation in the X-axis 𝑇 𝑥𝑖−1 (𝑎 𝑖−1 ) and a last translation in the Z-axis 𝑇 𝑧𝑖 (𝑑 𝑖 ) resulting in ( 4) and (5).…”

Section: Control System Based On Kinematicsmentioning

confidence: 99%

“…Any application in which a robotic arm is used requires the design of a trajectory, in which the behavior of the robot is planned according to the work area to perform its task reaching a suitable position and orientation for the end effector [4]. Most of the time the structure of the robotic arms used is in series due to the lower complexity in kinematics and the advantages of a larger working space compared to the closed structure [5] due to close structures such as [6]. The inverse kinematics is the opposite seeks to find the positions and orientation of the links or body of the robot with respect to a reference that is the end effector [7].…”

Section: Introductionmentioning

confidence: 99%

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Cinematic Design and Force Analysis of a SCARA Robot with Pneumatic Actuators

Mencia,

Ramos,

Nuñez

et al. 2023

Proceedings of the 21th LACCEI International Multi-Conference for Engineering, Education and Technology (LACCEI 2023): “Leaders

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The use of pneumatics applied to industry is greatly favored by its great availability and for being a non-polluting fluid, thus having a potential to replace other systems in the industry. In the field of industrial robotics, a robotic arm with pneumatic servomotors is rarely designed, as there are few studies about it. This technology being a closed loop repetitive control system with feedback makes feasible its implementation for processes in the industry. Since there are few pneumatic industrial robots, this study seeks to design a prototype with an analysis for the precise control of the positions and reduce the nonlinear randomness of the pneumatic system, through the resolution of the kinematics, which will provide necessary information on the mechanical adjustments in the pneumatic servomotors for a required application as well as the interpretation of transmission simulations. This study provides a manufacturing model of a fully pneumatic and functional robotic prototype, opening the field for future research on pneumatic control applied to industrial robotics.

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Section: Control System Based On Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Cinematic Design and Force Analysis of a SCARA Robot with Pneumatic Actuators

Mencia,

Ramos,

Nuñez

et al. 2023

Proceedings of the 21th LACCEI International Multi-Conference for Engineering, Education and Technology (LACCEI 2023): “Leaders

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show abstract

“…Kinematic calculations can be divided into two types: forward and inverse kinematics. Forward kinematics calculate the position and orientation of the end effector from the given joint variables [5], while inverse kinematics calculate the set of joint angles required for the robot to achieve the desired position. To obtain the points of interest, a geometric method was chosen [6,7], and the Denavit-Hartenberg method was used for forward kinematics, while the inverse kinematic model was found from the homogeneous transformation matrix.…”

Section: Introductionmentioning

confidence: 99%

“…We proceed to find the equations of the coordinates of the positioning point with respect to θ1 and considering the established coordinate axis. 𝑋 𝑝𝑜𝑠 = 𝐿 5 𝑐𝑜𝑠 𝑐𝑜𝑠 (90 − 𝜃 3 ) − 𝐿 3 𝑌 𝑝𝑜𝑠 = 𝐿 4 𝑠𝑖𝑛 𝑠𝑖𝑛 (𝜃 1 ) − [𝐿 2 − 𝐿 5 𝑠𝑖𝑛 𝑠𝑖𝑛 (90 − 𝜃 3 ) ]𝑐𝑜𝑠𝜃 1 𝑍 𝑝𝑜𝑠 = 𝐿 1 + [𝐿 2 − 𝐿 5 𝑠𝑖𝑛 𝑠𝑖𝑛 (90 − 𝜃 3 ) ]𝑠𝑖𝑛𝜃 1 + 𝐿 4 𝑐𝑜𝑠𝜃 1(3) (4)(5)…”

mentioning

confidence: 99%

An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application

Franco,

Jauregui,

Vinces

et al. 2023

Proceedings of the 21th LACCEI International Multi-Conference for Engineering, Education and Technology (LACCEI 2023): “Leaders

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The lack of an automated system for pipe positioning in Raise Boring mining works (RB) generates a longer working time and higher expenses for mining companies due to a greater number of usage errors produced by the operators. Therefore, reducing the intervention of the user in the RB tunneling and raising processes is expected to increase work efficiency. The objective of the project is to design and test, through the implementation of a scale model, a pipe positioning system that operates autonomously using direct and inverse kinematics to reduce the number of people involved in the working process to carry out the same job. The function of the system is to pick up a horizontal tube and place it at the required point in a vertical position or with up to a 45° inclination with a 4 degrees of freedom (DOFs) robotic arm. The implementation was made with servo motors, and the parts were printed in 3D using PLA. The coordinates of the arm positions were obtained through simulations carried out inPython code, which were compared with the resulting coordinates of the prototype implementation. After that, an accuracy of 96.29% and an average operation time of 16.21 seconds were obtained in the tests carried out with the prototype, demonstrating the effectiveness of the implemented system.

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