STUDY OF THE STATIC CHARACTERISTICS OF THE WORKSPACE AR600E ROBOT

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Abstract

The workspace is one of the most important parameters for evaluating robot flexibility and is important for optimizing robotic configuration, motion planning and control. Firstly, a kinematic model of the manipulator based on its basic structure was put forward. The systems of connection coordinates are established and the direct kinematic solution derived using DH methods. On its basis, the working space of the manipulator analyzed by the Monte Carlo method, based on random probability and software simulation MATLAB for the structural parameters of the robot. A cloud of workspace points has been compiled. Considering the problem of insufficient accuracy of the traditional Monte Carlo method in calculating the working space of the robot, an improved Monte Carlo method using the Beta distribution proposed. 

About the authors

Evgeniy Shakhmatov

Samara University

Author for correspondence.
Email: shakhm@ssau.ru

Corresponding Member of the Russian Academy of Sciences, head department of Power Plant Automatic Systems

Russian Federation

Vladimir Ilyukhin

Samara University

Email: iwnik@yandex.ru

PhD, docent of department of Power Plant Automatic Systems

Russian Federation

Dmitry Mezentsev

Samara University

Email: curucum@mail.ru

Graduate student, department of Power Plant Automatic Systems

Russian Federation

References

  1. Zenkevich, C.L. (2004), Osnovy upravleniya manipulyatsionnymi , MSTU named after Bauman, Moscow, Russia, 480 p.
  2. Produktsiya kompanii “Androidnaya tekhnika” , available at: https://npo-at.com/production (Accessed 10 December 2019).
  3. Garrett, S. Y. (2014), Design, analysis, and simulation of a humanoid robotic arm applied to catching: dissertation, Purdue University, Indianapolis, Indiana, 113 p.
  4. Haibo Tian, Aimin Li, Farong Kou1 (2012), Том 192, “Workspace Analysis and Calculation for the Manipulator of a Explosive-handling Robot in Mine”, Trans Tech Publications, Швейцария, стр 211-216.

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Copyright (c) 2020 Евгений Владимирович Шахматов, Владимир Николаевич Илюхин, Дмитрий Александрович Мезенцев

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This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Journal of Dynamics and Vibroacoustics

ISSN 2409-4579 (Online)

Publisher and Founder: Samara National Research University, 34, Moskovskoye shosse, Samara, 443086, Russian Federation.

Extract from the register of registered media

Editor-in-chief:  Academician of the RAS
E. V. Shakhmatov 

4 issues per year.

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Address for correspondence: 34, Moskovskoye shosse, Samara, 443086, Russian Federation, Samara National Research University (room 324, building 14)

Phone: 8 (846) 267 47 66

e-mail: dynvibro@ssau.ru

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© Samara University

 

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