Geometric, Kinematic and Dynamic modeling of Cartesian Robot

Al Hanoon G., Al Margeh M.B., Naser A.D.

Abstract


The goal of modeling any robot is to achieve the function for which it was designed in perfectly manner. When we model a robot we aim to find the equations that govern the robot geometric, kinematic and dynamic variables. In this paper, we studied the Cartesian robot (three prismatic D.O.Fs) to find the geometric and kinematic and dynamic models. First, we use the geometric model to find workspace. Then, we find linear speeds of robot’s links by using the kinematic model, we also study singular configurations. Finally, a dynamic model is carried out to calculate the forces and torques that are used to choose the motors for robot joints.

Keywords


geometric modeling; kinematic modeling; dynamic modeling; cartesian robot

References References

International Assessment of Research and Development in Robotics / George Bekey, Robert Ambrose, Vijay Kumar, Art Sanderson, Brian Wilcox, Yuan Zheng. - WTEC, 2006.

Norton Robert L. Design of Machinery. - McGraw-Hill, 1999.

Dombre Etienne, Khalil Wisam. Robot Manipulators. - ISTE, 2007.

Siciliano Bruno, Khatib Oussama. Springer Handbook of Robotics. - Springer, 2008.

Craig John J. Introduction to Robotics: Mechanics and Control. - 2005.


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ISSN 1813-7903 (Print)
ISSN 2413-1172 (Online)