Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK

Abstract

Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).

Mathematical modelling and simulation investigation of the dynamic behaviour of a compliant 2-R robot by using N-E method Via Matlab/Simulink

“…The second point of focus is the total work done by the robot during motion. Figures (7) shows clearly the effect of equilibrium position on the mitigation of the total work of robot during motion. This mitigation is caused only by the work of the joint (1) because as shown from the joint torque analysis that the torque applied at the joint (2) is the same for all cases.…”

“…Among particular solutions of the system, at least one has negative Lyapunov characteristic number [15].The dynamic simulations are realized via Matlab/Simulink by using the extended Newton-Euler method. It is shown from the previous study that the software Solidworks can be used to calculate the kinematics and dynamics of mechanisms [1,[6][7]18]. Thus, we need to simulate the trajectory of the compliant 2-R robot shown above by using Solidworks to import the results of displacements and velocities of springs to Matlab/Simulink to calculate the spring forces.…”

“…In Matlab/Simulink PIDs are used to guarantee minimum errors between the nominal inputs which correspond to the results of SolidWorks and the realized outputs which correspond to the results of the dynamical simulation performed with Matlab/Simulink. The motion simulated by using inverse kinematics [1,[6][7]18] of elbow down of a 2R robot corresponds to a motion in a straight line with a constant height (no vertical acceleration) with jerk zero at the start-stop path.…”

“…The 2-R robot moves between the two positions (1.5, 1) to (1.5, -1) with jerk zero at start-stop path during 1s. Generation of trajectories with a bounded value of jerk improves the tracking accuracy and will allow to reach a higher speed of task execution, with eventually a reduction in the excitation of the resonant frequencies and the vibrations caused by the planetary gear system [7,[19][20][21][22]. We can compare between the two postures of 2-R robot by using the equations of serial planar manipulators [18] in the dynamic modelling to choose the posture that has power saving [1,[6][7]] and more stability.…”

“…One can investigate, design, visualize and test an object before making it a reality [1][2][3][4][5]. In the robot's industry, power-saving became an important factor in recent years [1,[6][7][8][9][10][11]. Practically, when springs are added to the robot to support the entire robot system at the equilibrium position compared with a rigid robot.…”