Konfigurisanje virtuelnog prototipa BiSCARA robota
Configuring a virtual prototype of a BiSCARA robot
Abstract
U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju.
The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.
Keywords:
virtuelni prototip / simulacija / robot / radni prostor / kinematičko modeliranje / workspace / virtual prototype / simulation / robot / kinematic modelingSource:
Tehnika, 2021, 76, 3, 311-317Publisher:
- Savez inženjera i tehničara Srbije, Beograd
Funding / projects:
- The development of a new generation of domestic machining systems (RS-MESTD-Technological Development (TD or TR)-35022)
- Ministry of Science, Technological Development and Innovation of the Republic of Serbia, institutional funding - 200105 (University of Belgrade, Faculty of Mechanical Engineering) (RS-MESTD-inst-2020-200105)
- Ovaj rad je nastao u okviru istraživanja na projektu razvoja veštačke inteligencije pod nazivom "Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0" (AI - MISSION
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Mašinski fakultetTY - JOUR AU - Slavković, Nikola AU - Živanović, Saša AU - Vorkapić, Nikola PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3469 AB - U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju. AB - The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment. PB - Savez inženjera i tehničara Srbije, Beograd T2 - Tehnika T1 - Konfigurisanje virtuelnog prototipa BiSCARA robota T1 - Configuring a virtual prototype of a BiSCARA robot EP - 317 IS - 3 SP - 311 VL - 76 DO - 10.5937/tehnika2103311S ER -
@article{ author = "Slavković, Nikola and Živanović, Saša and Vorkapić, Nikola", year = "2021", abstract = "U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju., The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.", publisher = "Savez inženjera i tehničara Srbije, Beograd", journal = "Tehnika", title = "Konfigurisanje virtuelnog prototipa BiSCARA robota, Configuring a virtual prototype of a BiSCARA robot", pages = "317-311", number = "3", volume = "76", doi = "10.5937/tehnika2103311S" }
Slavković, N., Živanović, S.,& Vorkapić, N.. (2021). Konfigurisanje virtuelnog prototipa BiSCARA robota. in Tehnika Savez inženjera i tehničara Srbije, Beograd., 76(3), 311-317. https://doi.org/10.5937/tehnika2103311S
Slavković N, Živanović S, Vorkapić N. Konfigurisanje virtuelnog prototipa BiSCARA robota. in Tehnika. 2021;76(3):311-317. doi:10.5937/tehnika2103311S .
Slavković, Nikola, Živanović, Saša, Vorkapić, Nikola, "Konfigurisanje virtuelnog prototipa BiSCARA robota" in Tehnika, 76, no. 3 (2021):311-317, https://doi.org/10.5937/tehnika2103311S . .