Modelling, Designing, Manufacturing and Controlling an Industrial 6 DoF Serial Robotic Arm

Section: 
Research
Subsection: 
Scientific Project
Place: 
Mechanical Engineering Department
Isfahan University of Technology (IUT)
Isfahan (Iran)
Associate: 
A. Nasr
M.R. Sajadi
M. Danesh
Date: 
2014/07/21 to 2015/07/21

As you know, serial manipulators are the most common industrial robots. They have been designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. In this project, I designed, analyzed and manufactured a 6 dof (degrees of freedom) serial robot for object manipulation. This robot can manipulate object accurately although I can not lift heavy object. This robot has been builded by high accurate device and quilitiful material 

First of all, since the object need to move both transnational and orbital, thus 6 dof robot needed. A 6 dof manipulator as a concept has been designed. Then, kinematic, stiffness, workspace, dexterity, manipulability analysis and dynamic modeling provided by Matlab Software. Eventually, the actuators and mechanical part are founded by these analysis. THese modeling validated by Simulink model especially in the part of SimMechanics.

Secondly, mechanical design, finite element analysis and manufacturing of mechanical parts, links and griper proposed by Invertor software. The body of Robot made by high quility aluminium and by industrial CNC.

Third stage, the manufactured parts and actuators assembled. At this time, dc motor actuators calibrated, sensor connection provided and hardware in loop control system by LabVIEW and Matlab prepared. Then, PID control and modification control coefficient in different maneuvers derived. At the same time, an ARM-controller programmed in order to have trajectory planning and decision-making ability in future.

Task:

  • Kinematic, stiffness, workspace, dexterity, manipulability analysis and dynamic modeling delivered
  • Mechanical design, finite element analysis and manufacturing of mechanical parts, links and gripper proposed
  • Dc motor actuator calibrated, sensor connection provided and hardware in loop control system by labview and matlab prepared
  • Pid control and modification control coefficient in different maneuvers derived
  • An arm-controller programmed in order to have trajectory planning and decision making ability