Kinematics Simulation of Gough-Stewart Parallel Manipulator by Using Simulink Package in Matlab Software

Abstract

The Gough Stewart Robotic manipulator is a parallel manipulator with six-degree of freedom, which has six equations of Kinematics (Inverse and forward), with six variables (Lengths, Position, and Orientation). In this work derived the inverse equations, which used to compute the lengths of the linkages and its changes depended on the position and orientation of the platform's center, then derived the forward equations to calculate the position and orientation of the moving platform in terms of the lengths. This theoretical model of the kinematics analysis of the Gough Stewart has been built into the Simulink package in Matlab to obtain the lengths, position, and orientation for the manipulator at any time of motion. The input parameters (Position and Orientation) in inverse blocks compared with the output parameters (Position and Orientation) in the forward blocks, which show good results.

Development of the programming and simulation system of 4-axis robot with hybrid kinematic

“…The off-line robot simulation and programming software include almost all robotic arms on the market to easily implement them in a simulation environment. To resolve the issues for low-cost robots, i.e., simulation and programming of a new laboratory prototype of robots, many researchers developed a system that integrated kinematics and motion control simulation using MatLab/Simulink environment [15][16][17][18][19][20][21].…”

“…In [15] is developed a system that integrates kinematics and motion control simulation using MatLab /Simulink, which can be connected with a considered robot to verify the simulation results. The paper [16] derived the theoretical model of the kinematics analysis of the Gough Stewart mechanism built into the Simulink /MatLab package to obtain the manipulators' lengths, position, and orientation at any manipulator time of motion. In paper [17], a DELTA parallel robot is designed to realize the seed sorting, simplifying the FANUC parallel robot.…”