Abstract
In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.
Volume Subject Area:
Advanced Manufacturing
Topics:
Design,
Modeling,
Robotics,
Simulation,
End effectors,
Kinematics,
Optimization,
Springs,
Three-dimensional models,
Torque
This content is only available via PDF.
Copyright © 2020 by ASME
You do not currently have access to this content.
