Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Year 2020, Volume: 3 Issue: 1, 9 - 15, 31.05.2020

Zehranur Yılmaz Orkun Yılmaz Zafer Bingul

https://doi.org/10.34088/kojose.677184

Cited By: 2

Abstract

Within the scope of this study, firstly, mechanical structure of a six-axis serial manipulator was designed. Forward kinematic analysis was made using the Denavit-Hartenberg method, which provides the transition between cartesian coordinates, that is, the linear and angular positions of the end-effector, and joint coordinates; joint angles and linear displacements. In addition, to obtain the relation between the speed of joint variables and the speed of end effector, Jacobian matrix was derived. Dynamic analysis of the system based on Lagrange-Euler mathematical model was acquired. After the design phase was carried out in three-dimensional environment, the physical system-based dynamic model was obtained by transferring this data to the MATLAB-Simscape environment. Inverse dynamic problem was solved to verificate the 3D design of robot and suitablility of selected motors. To solve this problem, position, velocity and acceleration trajectories was given to dynamic model. As a result of this, each joint torques were obtained. The trajectories used in inverse dynamics were calculated using a fifth order polynomial function. Afterwards, in order to test the operation of the system in a simulated environment, PID based controller structures were applied to the dynamic model in MATLAB/Simulink simulation envirenmont and forward dynamic problem was reviewed and discussed.

Keywords

Dynamic Analysis, Jacobian, Kinematic Analysis, , MATLAB/Simscape, PID Control, Trajectory Planning

References

• Zhang D., Wei B., 2016. Design of a Joint Control System for Serial Mechanical Arms Based on PID and MRAC Control. Asia-Passific Conference on Intelligent Robot System, Tokyo, Japan, 20-22 July, pp. 91-96.
• Katliar M., Drop F. M., Teufel H., Diehl M., Bulthoff H. H., 2018. Real-Time Nonlinear Model Predictive Control of a Motion Simulator. 2018 Europian Control Conference (ECC), Limassol, South Cyprus, 12-15 June, doi: 10.23919/ECC.2018.8550041.
• Bingül Z., Karahan O., 2012. Fractional PID Controllers Tuned by Evolutionary Algorithms for Robot Trajectory Control. Turkish Journal of Electrical Engineering & Computer Sciences, 20(Sup.1), 1123-1136.
• Bingül Z., Karahan O., 2011. A Fuzzy Logic Controller Tuned with PSO for 2 DOF Robot Trajectory Control. Expert Systems with Applications, doi: 10.1016/j.eswa.2010.07.131.
• Bingül Z., Varol H. A., 2004. A New PID Tuning Technique Using Ant Algorithm. Proceeding of the 2004 American Control Conference, Boston, Massachusetts, 30 June – 2 July.
• Angeles J., 2007. Fundamentals of Robotic Mechanical Systems, Methods and Algorithms. Springer Science+Business Media LLC, 3rd ed., New York, NY, USA.
• Murray R. M, Li Z., Sastry S. S., 1994. A Mathematical Introduction to Robotic Manipulation, Berkeley: CRC Press, University of California.
• Dombre E., Khalil W., 2007. Modeling, Performance Analysis and Control of Robot Manipulators, ISTE Ltd., London, UK.
• Sciavicco L., Siciliano B., 2000. Modelling and Control of Robot Manipulators, Springer, London, UK.
• Siciliano B., Sciavicco L., Villani L., Oriolo G., 2009. Robotics: Modelling, Planning and Control, Springer, London, UK.
• Kunquan L., Rui W., 2011. Closed-form Dynamic Equetions of 6-RSS Parallel Mechanism Through the Newton-Euler Approach. Third International Conference on Measuring Technology and Mechatronics Automation, Henan Engineering Institute, Zhengzhou, China, 6-7 January, pp. 712-715.
• Wikipedians, 2019. Mathematical model, Wikipedia, https://en.wikipedia.org/wiki/Mathematical_model. (Access Date: 02 December 2019).
• Basak P., Chowdhury S., Chowdhury S. P., 2013. Simscape Based Modeling and Simulation of a PV Generator in Microgrid Scenario. 22nd International Conference and Exhibition on Electricity Distribution (CIRED), Stockholm, Sweden, 10-13 June, paper no: 0997.
• Elwarraki E., Mijlad N., Elbacha A., 2016. SIMSCAPE Electro-thermal Modelling of the PIN Diode for Power Circuits Simulation. IET Power Electronics, 9(7), pp. 1521-1526.
• Al-Hamadani H., An T., King M., Long H., 2017. System Dynamic Modelling of Three Different Wind Turbine Gearbox Designs Under Transient Loading Conditions. International Journal of Precision Engineering and Manufacturing, 18(11), pp. 1659-1668.
• Olaya J., Pintor N., Avilés O. F., Chaparro J., Analysis of 3 RPS Robotic Platform Motion in Simscape and MATLAB GUI Environment. International Journal of Applied Engineering Research, 12(8), pp. 1460-1468.
• Grazioso S., Di Maio M., Di Gironimo G., 2019. Conceptual Design, Control, and Simulation of a 5-DoF Robotic Manipulator for Direct Additive Manufacturing on the Internal Surface of Radome Systems. The International Journal of Advanced Manufacturing Technology, 101(5-8), pp. 2027-2036.