The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.
Topology optimization is a dynamically developing area of industrial engineering. One of the optimization tasks is to create new part shapes, while maintaining the highest possible stiffness and reliability and minimizing weight. Thanks to computer technology and 3D printers, this path of development is becoming more and more topical. Two optimization conditions are often used in topology optimization. The first is to achieve the highest possible structure stiffness. The second is to reduce the total weight of the structure. These conditions do not have a direct effect on the number of elements in the resulting structure. This paper proposes a geometric method that modifies topological structures in terms of the number of truss elements but is not based on the optimization conditions. The method is based on natural patterns and further streamlines the optimization strategies used so far. The method’s efficiency is shown on an ideal Michell truss.
The paper describes the construction and verification of a kinematic model of a robotic arm position, which should be composed of special modules (URM). The concept of modularity plays a fairly important role here, as it is possible to assemble from individual modules machines with different movement options and several degrees of freedom. The degrees of freedom of the arm are facilitated by six rotating links, which are, thank to those modules, unlimited. The actual implementation of the robotic arm's kinematic model into the software environment occurred in two environments. In order to check the correctness of the calculation of the individual parts of the kinematic structure's position in space, two different models were intentionally created. A mathematical model in Matlab -Simulink and a mechanical model built in the Matlab -Simscape environment.
The article deals with the development of the construction of a second generation robotic manipulator designed on a modular principle. The manipulator consists of 6 separate rotary modules interconnected by passive members of the structure. In previous generations of the module, the high weight of the overall assembly, which limited the movement properties, proved to be a problem. Modifications to the structure no longer allowed for further weight reduction. Therefore, a change was made to the materials used for the passive members of the structure. The aluminium alloy was replaced by a continuous carbon fiber reinforced composite produced by additive technology. Modelling and simulation in CAD software was used in the modification of passive members, which was necessary in order to be able to design and manufacture composite parts.
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