Project Presentation 5-LINK ROBOTIC DESIGN AND SIMULATION

Mohit SuriME 597

Project Goal To design and simulate a 5 link robotic manipulator/arm capable

of pick, place and other applications.• Creo was used to design the robot • Matlab-Simulink was used to create a simulation environment for

the model. The robotic arm was designed to• Have multiple control loops i.e. individual for every joint.• Use kinematics and feedback control to drive from one point to

another.

Design Creo was used to design every component of the robot. Angular constraints were applied during this process.• <170, • -20< <55 • 25< <100• -15< <10• -20< • = 200mm, = 160mm, = 37.5mm

Tell you the Range or workspace using a Test signal with the DH conventions being applied.

Model Conversion For Simulation

Matlab-Simulink Using the governing equations from the book for DC motors

Transfer functions and control loops were Implemented to model using Simulink blocks.

Joints

Independent

controller

Coordinate Transformation

Selecting Gain Values Selection was done by testing the system with different signals

and then optimizing the response and Stability of the model. The selected gain values for the controller1 & 2 are:

The Gain values and controller response was measured carefully using scope

Driving the End-Effector from Point to Point

Solver for dynamic Equation

ODE-solver(Dormand price) with variable step was used for forward dynamics.

This solver follows Netwon –Euler formations for calculating forces and torques that we studied in the class.

These toques and forces can be monitored using a torque/force sensor that can be applied to joint.

Simulation results: Video 1 tells you response of uncontrolled system. We can easily

see the DOF being violently dominating on the overall structure. Video 2 is the controlled from of the constraints Video 3 is pick and place. Video 4 is controlled from controller and constraints. The behavior of the last video is thought to be because the mass

of the end-effector was heavy and the corresponding Inertia Matrices were giving High values.

Changing the Creo design and simulating again is the solution.

Conclusion

Equation and Models studied in the class i.e. forward kinematics, transfer functions and dynamic equations were applied on the model and real time application/working was seen.

This project increased by prospective and skills in the field of robotics.

Thank You