Formulation of lagrangian equation and dynamic analysis of 2 - DoF Industrial robot using Roboanalyzer

Abstract

Industrial robot is extensively used in all major manufacturing and assembly line throughout the world. In order to properly actuate the robot links, it is necessary to calculate the torque required at link joints. In this paper we consider a two degrees of freedom robot manipulator having two rotary joints J1 and J2. This is a classic example of inverse dynamics problem, inverse dynamics in robotics used to calculate torque or force required at joints from known values of link mass, velocity, and acceleration and we choose lagrangian formulation to solve equation of motion. In addition, Robo analyzer software we plot the torque values for predefined value of centre of gravity and link mass.

Mathematical and 3D Mechanical System Simulation of Arm Robot Modelled as Double Pendulum

“…Meanwhile this study used Lagrangian formula to derived the arm robot mathematical model. Previous study also used lagrangian formula method to modelled and simulated two DoF arm robot [4]. The difference with this study is that this Farika Tono Putri dkk /Jurnal Rekayasa Mesin p-ISSN: 1411-6863, e-ISSN: 2540-7678 Vol.18|No.3|495-504|Desember|2023 496 study compare the mathematical simulation and 3D mechanical system simulation, meanwhile previous study not comparing both method [4][5][6].…”

“…Degree of freedom (DoF) varieties are developed by arm robot manufacturers which suit for various tasks. For simple task like pick and place task, fewer DoF is needed and for more difficult task like painting more DoF are needed [4].…”