Geometric, Kinematic and Dynamic modeling of Cartesian Robot

Authors

  • G. A. Hanoon Damascus University, Syria
  • M. B. Al Margeh Damascus University, Syria
  • A. D. Naser Higher Institute for Applied Sciences and Technology (HIAST), Damascus, Syria

Keywords:

geometric modeling, kinematic modeling, dynamic modeling, cartesian robot

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.

Author Biographies

G. A. Hanoon, Damascus University, Syria

Mechanical Engineering Department, Faculty of Mechanical and Electrical Engineering

M. B. Al Margeh, Damascus University, Syria

PhD, Associate-Professor, Head of Mechanical Engineering Department, Faculty of Mechanical and Electrical Engineering

A. D. Naser, Higher Institute for Applied Sciences and Technology (HIAST), Damascus, Syria

PhD, Associate-Professor, Electromechanic Systems Department

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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Published

15.03.2014

How to Cite

Al Hanoon Д., Al Margeh М. Б., & Naser А. Д. (2014). Geometric, Kinematic and Dynamic modeling of Cartesian Robot. Vestnik IzhGTU Imeni M.T. Kalashnikova, (1), 124–129. Retrieved from https://izdat.istu.ru/index.php/vestnik/article/view/2521

Issue

No. 1 (2014)

Section

Articles