Design and construction of 3 degree of freedom robotic Arm

Design and construction of 3 degree of freedom robotic Arm

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Design and construction of 3 degree of freedom robotic Arm دارای 7 صفحه می باشد و دارای تنظیمات در microsoft word می باشد و آماده پرینت یا چاپ است

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توجه : در صورت  مشاهده  بهم ريختگي احتمالي در متون زير ،دليل ان کپي کردن اين مطالب از داخل فایل ورد مي باشد و در فايل اصلي Design and construction of 3 degree of freedom robotic Arm،به هيچ وجه بهم ريختگي وجود ندارد


بخشی از متن Design and construction of 3 degree of freedom robotic Arm :

سال انتشار : 1394

نام کنفرانس یا همایش : سومين کنفرانس ملي و اولين کنفرانس بين المللي پژوهش هايي کاربردي در مهندسي برق، مکانيک و مکاترونيک

تعداد صفحات : 7

چکیده مقاله:

This article describes the design, dynamic modelling and experimental validation of a new three-degree-of-freedom robotic arm. The arm was designed on the assumption that all its mass was concentrated at the tip. Therefore, the arm was built with lightweight links using plexiglas material, and all the actuators were located at the joints. From the dynamics point of view, this mechanism also decouples the forces transmitted by the actuators to the tip of the arm. On the assumption that all the mass is concentrated at the tip, a compliance matrix can be used to model the oscillations of the structure. Then, dynamics of the arm becomes very simple (a lumped single mass model instead of the usual distributed mass model), and its control system can be significantly simplified: minimum sensing effort is required. These design specifications have been experimentally validated on the prototype we have built. Experimental results showed that the proposed mechanism had effectively provide the torque required to support the robot and the end effector mass, thus allowing the prospective use of low-cost motors and speed reducers for high performance root arms.

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Design and construction of 3 degree of freedom robotic Arm