Project Design Of Mechanical System Topic Calculations For Industrial Robot Control.pdf

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY SCHOOL OF MECHANICAL ENGINEERING---  ---PROJECT DESIGN OF MECHANICAL SYSTEM TOPIC: CALCULATIONS FOR INDUSTRIAL ROBOT CONTROL Instru

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY SCHOOL OF MECHANICAL ENGINEERING

- 

-PROJECT DESIGN OF MECHANICAL SYSTEM TOPIC: CALCULATIONS FOR INDUSTRIAL ROBOT CONTROL

Instructor: Dr Tran Dinh Long Student: Nguyen Hoang Ha Student code: 20185253 Class code : 719779

Hanoi, August, 2022

TABLE OF CONTENTS

CHAPTER I FUNDAMENTAL KNOWLEDGE OF INDUSTRIAL ROBOTS 1

1.1 History of industrial robots development 1

1.2 Definition and classification 1

1.2.1 Definition 1

1.2.2 Classification 2

1.3 Application of Industrial Robot 3

CHAPTER II KINEMATICS PROBLEM 4

2.1 Survey of forward kinematics 4

2.1.1 Setting coordinate system for robot 4

2.1.2 Setting the Denavit-Hatenberg parameters 4

2.1.3 Coordinate transformation matrix 5

2.2 Forward kinematics problem 6

*** Calculation: 8

a Problem 2.2A 8

b Problem 2.2B 9

c Problem 2.2C 10

2.3 Inverse kinematics problem 11

*** Calculation: 13

a Problem 2.3A 13

b Problem 2.3B 13

CHAPTER III STATICS 14

*** Calculation: 14

CHAPTER IV MANIPULATOR DYNAMICS 18

4.1 The iterative Newton-Euler dynamics algorithm 18

*** Calculation: 18

CHAPTER V CONCLUSION 21

REFERENCES 22

LIST OF FIGURES AND GRAPHS

Figures:

Figure 1 Link-frame attachment 4

Figure 2 A three-link planar arm 6

Figure 3a Calculation of forward kinematics in MATLAB 7

Figure 3b Tranformation matrix 0T and 0 HT in MATLAB 8

Figure 4a 0T and 0 HT after subsituting given data of problem 2.2A 8

Figure 4b Frame assignment of problem 2.2A 9

Figure 5a 0T and 0 HT after subsituting given data of problem 2.2B 9

Figure 5b Frame assignment of problem 2.2B 10

Figure 6a 0T and 0 HT after subsituting given data of problem 2.2C 10

Figure 6b Frame assignment of problem 2.2C 11

Figure 7 The two inverse kinematics solutions for the 3R manipulator: “elbow-up” configuration  1 and the “elbow-down” configuration  1 12

Figure 8a Frame assignment of problem 2.3A 13

Figure 8b Frame assignment of problem 2.3B 13

Figure 9 Resolved-Rate-Algorithm block diagram 14

Figure 10 The force balance, including inertial forces, for a single manipulator link 18

Figure 11a&b Calculation of dynamics in MATLAB 19

Graphs: Graph 1 Joint rates 15

Graph 2 Joint angles 15

Graph 3 { }T  Xx y m m rad versus time 16

Graph 4 Determinant of Jacobian matrix versus time 16

Graph 5 Joint torque T{ }  1 2 3 T versus time 17

CHAPTER I

FUNDAMENTAL KNOWLEDGE OF INDUSTRIAL ROBOTS

1.1 History of industrial robots development

The world’s first industrial robot was brought to life in the United States in 1962 The idea ofthe industrial robot was born from American engineer, George Charles Devol, Jr in 1954 Devol met Joseph Frederick Engelberger, an entrepreneur and the man who would come to be known as

"the father of robotics", and convinced him of the potential of his idea And in 1961, the two Americans established Unimation Inc., a venture company specializing in industrial robot development In the following year, they succeeded in the trial production of the world’s first industrial robot, the Unimate US car manufacturers already working on factory automation at the time showed interest in the Unimate, and with the deployment of the robot in the General Motors Company (GM)’s die-casting factory, the practical use of industrial robots commenced

Unimate – The First Industrial Robot

1.2 Definition and classification

1.2.1 Definition

An industrial robot is one that has been developed to automate intensive production tasks such as those required by a constantly moving assembly line As large, heavy robots, they are placed in fixed positions within an industrial plant and all other worker tasks and processes revolve around them

According to the international standard ISO 8373:2012, the industrial robot definition is ‘a multifunctional, reprogrammable, automatically controlled manipulator, programmable in three or more axes that can be fixed in one area or mobile for use in industrial automation applications’.Industrial robots are not usually humanoid in form, although they are capable of reproducing human movements and behaviors but with the strength, precision and speed of a machine

1

Based on mechanical configuration, industrial robots can be classified into six major types namely:

SCARA Robot Articulated Robot

 By transmission system:

+ Electric drive system: always use DC electric motor or step motor

+ Hydraulic transmission: high power but bulky

+ Pneumatic drive system: medium and small power, low accuracy, simple operation (Pick and Place or PTP – Point To Point)

 By applications: industry, aviation universe, medical, military,…

1.3 Application of Industrial Robot

Typical applications of robots include:

 Welding

 Painting

 Assembly, Disassembly

 Pick and Place for printed circuit boards

 Packaging and Labeling

 Palletizing

 Product inspection

 TestingAll accomplished with high endurance, speed, and precision They can assist in material handling

Robot arc welding cell

3

CHAPTER II KINEMATICS PROBLEM

2.1 Survey of forward kinematics

2.1.1 Setting coordinate system for robot

Figure 1 Link-frame attachment

* Link-frame attachment procedure:

1 Identify the joint axes and imagine (or draw) infinite lines along them For steps 2 through

5 below, consider two of these neighboring lines (at axes i and i ).1

2 Identify the common perpendicular between them, or point of intersection At the point of intersection, or at the point where the common perpendicular meets the ith axis, assign the link-frame origin

3 Assign the Zˆi

axis pointing along the ith joint axis

4 Assign the Xˆi axis pointing along the common perpendicular, or, if the axes intersect,

assign Xˆi to be normal to the plane containing the two axes.

5 Assign the Yˆi axis to complete a right-hand coordinate system.

6 Assign {0} to match {1} when the first joint variable is zero For {N},

choose an

origin location and XˆN direction freely, but generally so as to cause as

many

linkage parameters as possible to become zero

2.1.2 Setting the Denavit-Hatenberg parameters

- Use Denavit-Hartenberg (D-H) method to solve the forward kinematics problem

Z measured about Xˆi

1, 2 and 3 are joint variables

2.1.3 Coordinate transformation matrix

- Transformation that transforms vectors defined in  i

i i i i i i i

adT

31 32 33

0 0 0 1

x y i

z

R R R P

R R R PT

21 22 23

31 32 33 i

iPPx Py Pz : is the postion vector.

2.2 Forward kinematics problem

2

cos sin 0sin cos 0 0

0 0 0 1

aT

Figure 3a Calculation of forward kinematics in MATLAB

Figure 3b Tranformation matrix 0T and 0

HT after subsituting given data of problem 2.2A

Figure 4b Frame assignment of problem 2.2A

Figure 5a 0T and 0

HT after subsituting given data of problem 2.2B

Figure 5b Frame assignment of problem 2.2B

Figure 6a 0T and 0

HT after subsituting given data of problem 2.2C

Figure 6b Frame assignment of problem 2.2C

11

1 1 2 12 3 123

1 1 2 12 3 123

c ,,

- Sovle the inverse kinematics problem

Figure 7 The two inverse kinematics solutions for the 3R manipulator:

Figure 8a Frame assignment of problem 2.3A

Figure 8b Frame assignment of problem 2.3B

CHAPTER III STATICS

15

+ Graph 1 Joint rates (m/s)

+ Graph 2 Joint angles (rad)

+ Graph 3 X{ x y}Tm m rad versus time

17

+ Graph 4 Determinant of Jacobian matrix versus time

+ Graph 5 Joint torque T{ }  1 2 3 T (Nm) versus time

CHAPTER IV MANIPULATOR DYNAMICS

4.1 The iterative Newton-Euler dynamics algorithm

+ Outward iterations: : 0i 2

+ Inward iterations: : 3i 1

Figure 10 The force balance, including inertial forces, for a single manipulator link

20

- Use MATLAB to calculate

Figure 11a&b Calculation of dynamics in MATLAB

*Given:

+ Weight of each link: m1 20, m2 15, m3 10 kg

+ Moment of inertia of each link:  2

1 0.5, 2 0.2, 3 0.1

ZZ ZZ ZZ

I  I  I  kgm+ Joint angles:   0 0 0

CHAPTER V CONCLUSION

"Calculating and designing control problems for industrial robots" is a highly practical topic, whenthe industry is growing, competition is constantly demanding, productivity and quality must be improved thanks to modern machinery lines replacing manual labor of humans

Thus, in the module "Designing a mechanical system - Robot", I learned how to calculate and design a control system for a robot Specific work completed includes the following:

 SCARA robot overview

 Calculating the forward kinematics, inverse kinematics

 Calculating velocity, static forces

 Find out the dynamic problem of robot

Through the above topic, I have learned how to apply professional knowledge trained at Hanoi University of Science and Technology in the past time into real life, especially with industry I also learned a lot such as teamwork skills, problem solving, finding documents, writing reports very useful for later Once again, I would like to thank Dr Tran Dinh Long helped me complete this thesis

Due to the limitation of time and knowledge in this project, I only solved some fundamental problems in the design of a robot In addition, there are many problems need to be solved to have a complete robot product such as mechanical design, equipment selection, algorithms, software programming, Therefore, I hope that other teachers and you will give me your comments to improve this topic

Sincere thanks to all of you!