Kinematics Simulation and Experiment for Optimum Design of a New Prototype Parallel Robot

Kinematics Simulation and Experiment for Optimum Design of a New Prototype Parallel Robot

  IJETT-book-cover           
  
© 2022 by IJETT Journal
Volume-70 Issue-10
Year of Publication : 2022
Authors : Surin Subson, Dechrit Maneetham, Myo Min Aung
DOI : 10.14445/22315381/IJETT-V70I10P234

How to Cite?

Surin Subson, Dechrit Maneetham, Myo Min Aung, "Kinematics Simulation and Experiment for Optimum Design of a New Prototype Parallel Robot ," International Journal of Engineering Trends and Technology, vol. 70, no. 10, pp. 350-362, 2022. Crossref, https://doi.org/10.14445/22315381/IJETT-V70I10P234

Abstract
Technological progress allows for the more efficient production of more and better goods and services, bringing economic and social benefits. The labor shortage in production highlights the issues that can be helped by automated technologies, one of the reasons the industrial sector sees more opportunities to adopt robots. Parallel robots are prevalent industrial robots because they are ideal for packing lines; their high flexibility and adaptability can be used to arrange workpieces of different sizes, colors, or shapes. For the design or selection of robots to suit the working area conditions, it is imperative to study the use of robotic arms in an industrial setting. The most important issue is controlling robotic arms to get the job done accurately. To obtain accurate location coordinates, two methods of robot analysis are applied: forward kinematics and reverse kinematics. In this research, the theory of inverse kinematics analysis is applied to parallel robots to test the coordinate position of the robotic arm in robots' movement and compare the computational results. The simulation results and the actual test results are evaluated to determine the accuracy of the robot's working area. It gives a clear idea of how much the robot can move. To plan the path of movement and calculate the forearm position, forward kinematics is studied, and compare the results of the simulation using the MATLAB simulation program, the operation of the robot is analyzed and checked for acceptable errors to make the robot functional based on the results of the inverse kinematics simulations compared with the actual experiments, the joint angles steady-state error of the prototype robot was in the range of θ1, θ2, and θ3 between 0° to 4º degrees.

Keywords
Parallel robot, MATLAB Simulink, Trajectory Tracking, Kinematic model, Workspace Modeling.

Reference
[1] Staicu St. & Carp-Ciocardia D. C, “Dynamic Analysis of Clavel’S Delta Parallel Robot,” Proceedings of the 2003 IEEE International Conference on Robotics & Automation Taipei, Taiwan, 2003.
[2] Ohlsson A., “Modeling and Control of a Delta-3 Robot,” LUTFD2/TFRT—5834—SE Master Thesis, Lund University, Department of Automatic Control, Sweden, 2009.
[3] Zsombor-Murray P.J., “Descriptive Geometric Kinematic Analysis of Clavel’s “Delta” Robot,” McGill University Department of Mechanical Engineering Centre for Intelligent Machines Rm. 454, 817 Sherbrooke St. W.Montr´eal (Qu´ebec) Canada, H3A 2K6, 2004.
[4] Saeed Rahimi, “Design and Practical Implementation of a Neural Network Self-Tuned Inverse Dynamic Controller for a 3-Dof Delta Parallel Robot Based on Arc Length Function for Smooth Trajectory Tracking,” Mechatronics, vol. 84, pp. 102772, 2022.
[5] Hamdoun O., Bakkali L.E. & Baghli F.Z, “Analysis and Optimum Kinematic Design of a Parallel Robot,” 10th International Conference Interdisciplinarity in Engineering, INTER-ENG, 2016.
[6] Falezza F, “A Novel Inverse Dynamic Model for 3-Dof Delta Robots,” Mechatronics, vol. 83, pp. 102752, 2022.
[7] M Lo´pez, Centro de Ingenierı´a and Desarrollo Industrial, Quere´taro, Me´xico, “Delta Robot: Inverse, Direct, and Intermediate Jacobians,” Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science 1989-1996, 2005.
[8] Robert L, Williams II, Ph.D, “The Delta Parallel Robot: Kinematics Solutions,” Mechanical Engineering, Ohio University, 2016.
[9] Hugo Hadfield, Joan Lasenby, “The Forward and Inverse Kinematics of a Delta Robot,” Chapter, 2020. Doi:10.1007/978-3-030-61864- 3_38
[10] Yun-Joo Nam & Myeong-Kwan Park, “Kinematics and optimization of 2-DOF Parallel Manipulator with Revolute Actuators and a Passive Leg,” Journal of Mechanical Science and Technology, Article number: 828, vol. 20, 2006.
[11] C. Gosselin, J. Angeles, “The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator,” Journal of Mechanisms, Transmissions, and Automation, vol. 110, no. 1, pp. 35-41, 1988.
[12] Cheng Liua, Guohua Caoa, and Yongyin Qub, “Safety Analysis via Forward Kinematics of Delta Parallel Robot using Machine Learning,” Safety Science, vol. 117, pp. 243-249, 2019.
[13] M. Shehata, M. Elshami, Q. Bai, X. Zhao, “Parameter Estimation for Multibody System Dynamic Model of Delta Robot from Experimental Data,” IFAC Papers OnLine, vol. 54-14, pp. 72-77, 2021
[14] Ma Li, Dexue Bi, Zhipeng Xiao, “Mechanism Simulation and Experiment of 3-DOF Parallel Robot Based on MATLAB,” Proceedings of the 2015 International Power, Electronics and Materials Engineering Conference, 2015.
[15] Swaraj Zodeya, Sharad K. Pradhanb, “Matlab Toolbox for Kinematic Analysis and Simulation of Dexterous Robotic Grippers,” 12th Global Congress on Manufacturing and Management, GCMM 2014, Procedia Engineering, vol. 97, pp. 1886-1895, 2014.
[16] Carmelo Mineo, Stephen Gareth Pierce, Pascual Ian Nicholson, Ian Cooper, “Robotic path Planning for Non-Destructive Testing – A Custom MATLAB Toolbox,” Approach, Robotics and Computer-Integrated Manufacturing, vol. 37, pp. 1-12, 2016.
[17] Delta X1 Specifications. [Online]. Available: https://www.deltaxrobot.com/p/specifications.html
[18] Delta Robots from B&R Specifications. [Online]. Available: https://www.br-automation.com/en/products/machine-centricrobotics/robotics-portfolio/maximum-performance-with-delta-robots/
[19] Dinh Tho Long, To Van Binh, Roan Van Hoa, Le Van Anh, Nguyen Van Toan, "Robotic Arm Simulation by using Matlab and Robotics Toolbox for Industry Application," SSRG International Journal of Electronics and Communication Engineering, vol. 7, no. 10, pp. 1-4, 2020. Crossref, https://doi.org/10.14445/23488549/IJECE-V7I10P101
[20] Indrazno Siradjuddin, Aang Junaidi, Ratna Ika Putri, Erfan Rohadi, Supriatna Adhisuwignjo, "Kinematics and Control A Three Wheeled Omnidirectional Mobile Robot," SSRG International Journal of Electrical and Electronics Engineering, vol. 6, no. 12, pp. 1-6, 2019. Crossref, https://doi.org/10.14445/23488379/IJEEE-V6I12P101
[21] D.Deepak, S.Pathmasharma, "Design and Fabrication of Kinematic Robotic Walker with Left and Right Motion with Camera," SSRG International Journal of Mechanical Engineering, vol. 4, no. 4, pp. 53-56, 2017. Crossref, https://doi.org/10.14445/23488360/IJMEV4I4P112
[22] Ngoc Trung Dang and Xuan Thuan Nguyen, "A Control Method for SMMS Teleoperation System with Affection of Disturbance," SSRG International Journal of Electrical and Electronics Engineering, vol. 5, no. 11, pp. 1-8, 2018. Crossref, https://doi.org/10.14445/23488379/IJEEE-V5I11P101
[23] Roan Van Hoa, Nguyen Duc Dien, Lai Khac Lai, "Research and Apply Deep Reinforcement Learning Technology to Control Mobile Robot," SSRG International Journal of Electrical and Electronics Engineering, vol. 8, no. 4, pp. 30-35, 2021. Crossref, https://doi.org/10.14445/23488379/IJEEE-V8I4P106
[24] Wen-Kung Tseng, Hou-Yu Chen, "The study of tracking control for autonomous vehicle," SSRG International Journal of Mechanical Engineering, vol. 7, no. 11, pp. 57-62, 2020. Crossref, https://doi.org/10.14445/23488360/IJME-V7I11P108
[25] Ngo Phuong Thanh, Nguyen Nam Trung, "The Fan and Plate Angular Position Control Techniques and Applications," SSRG International Journal of Electrical and Electronics Engineering, vol. 8, no. 6, pp. 38-42, 2021. Crossref, https://doi.org/10.14445/23488379/IJEEE-V8I6P106