Open AccessDesign and Analysis of six DOF Robotic Manipulator
Author(s) -
V. G. Pratheep,
M. Chinnathambi,
E. B. Priyanka,
P Ponmurugan,
Pridhar Thiagarajan
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1055/1/012005
Subject(s) - inverse kinematics , kinematics , forward kinematics , robot end effector , computer science , kinematics equations , position (finance) , robot , parallel manipulator , control theory (sociology) , robot kinematics , orientation (vector space) , control engineering , simulation , engineering , artificial intelligence , mathematics , control (management) , mobile robot , geometry , physics , finance , classical mechanics , economics
The robotic manipulators are nowadays used for many applications in the industries. This project involves the design and analysis of a six DOF manipulator for welding, pick and place application. We developed a robot in Solid Works and analysed it motion, load withstanding capacity and path traceability. However, design and analysis of a robot involves modelling of it forward and inverse kinematics. We modelled the forward and inverse kinematics by D-H parameters. The proposed model makes it possible to control the manipulator to achieve any reachable position and orientation in an unstructured environment. The inverse kinematics provided many possible combinations of angles for a single end effector position. A GUI was created in MATLAB for studying the forward and inverse kinematics of the robot. It gave results with precision of 0.2 cm. the load analysis also gave the maximum load it can withstand 200 KN without permanent deformation. The approach presented in this work can also be applicable to solve the kinematics problem of other similar kinds of robot manipulators.