IJBTT

Kinematics Simulation and Experiment for Optimum Design of a New Prototype Parallel Robot

Kinematics Simulation and Experiment for Optimum Design of a New Prototype Parallel Robot
	© 2022 by IJETT Journal
	Volume-70 Issue-10
	Year of Publication : 2022
	Authors : Surin Subson, Dechrit Maneetham, Myo Min Aung
	DOI : 10.14445/22315381/IJETT-V70I10P234

How to Cite?

Surin Subson, Dechrit Maneetham, Myo Min Aung, "Kinematics Simulation and Experiment for Optimum Design of a New Prototype Parallel Robot ," International Journal of Engineering Trends and Technology, vol. 70, no. 10, pp. 350-362, 2022. Crossref, https://doi.org/10.14445/22315381/IJETT-V70I10P234

Abstract
Technological progress allows for the more efficient production of more and better goods and services, bringing economic and social benefits. The labor shortage in production highlights the issues that can be helped by automated technologies, one of the reasons the industrial sector sees more opportunities to adopt robots. Parallel robots are prevalent industrial robots because they are ideal for packing lines; their high flexibility and adaptability can be used to arrange workpieces of different sizes, colors, or shapes. For the design or selection of robots to suit the working area conditions, it is imperative to study the use of robotic arms in an industrial setting. The most important issue is controlling robotic arms to get the job done accurately. To obtain accurate location coordinates, two methods of robot analysis are applied: forward kinematics and reverse kinematics. In this research, the theory of inverse kinematics analysis is applied to parallel robots to test the coordinate position of the robotic arm in robots' movement and compare the computational results. The simulation results and the actual test results are evaluated to determine the accuracy of the robot's working area. It gives a clear idea of how much the robot can move. To plan the path of movement and calculate the forearm position, forward kinematics is studied, and compare the results of the simulation using the MATLAB simulation program, the operation of the robot is analyzed and checked for acceptable errors to make the robot functional based on the results of the inverse kinematics simulations compared with the actual experiments, the joint angles steady-state error of the prototype robot was in the range of θ1, θ2, and θ3 between 0° to 4º degrees.

Keywords
Parallel robot, MATLAB Simulink, Trajectory Tracking, Kinematic model, Workspace Modeling.

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