SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK
Апстракт
Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning ...is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody.
Кључне речи:
desktop robot / design / virtual model / stepper motors / SolidWorks / Simscape MultibodyИзвор:
9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023, 2023, ID122, 326-319Издавач:
- Belgrade: Serbian Society of Mechanics
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200066 (Лола институт, Београд) (RS-MESTD-inst-2020-200066)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Dević, Andrija AU - Vidaković, Jelena AU - Živković, Nikola AU - Lazarević, Mihailo PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/7235 AB - Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody. PB - Belgrade: Serbian Society of Mechanics C3 - 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023 T1 - SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK EP - 319 IS - ID122 SP - 326 UR - https://hdl.handle.net/21.15107/rcub_machinery_7235 ER -
@conference{ author = "Dević, Andrija and Vidaković, Jelena and Živković, Nikola and Lazarević, Mihailo", year = "2023", abstract = "Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody.", publisher = "Belgrade: Serbian Society of Mechanics", journal = "9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023", title = "SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK", pages = "319-326", number = "ID122", url = "https://hdl.handle.net/21.15107/rcub_machinery_7235" }
Dević, A., Vidaković, J., Živković, N.,& Lazarević, M.. (2023). SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK. in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023 Belgrade: Serbian Society of Mechanics.(ID122), 326-319. https://hdl.handle.net/21.15107/rcub_machinery_7235
Dević A, Vidaković J, Živković N, Lazarević M. SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK. in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;(ID122):326-319. https://hdl.handle.net/21.15107/rcub_machinery_7235 .
Dević, Andrija, Vidaković, Jelena, Živković, Nikola, Lazarević, Mihailo, "SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK" in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023, no. ID122 (2023):326-319, https://hdl.handle.net/21.15107/rcub_machinery_7235 .