Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

Abstract

At present, the fastener installation in a wingbox facing a narrow space must be performed manually. Using a robot is an appropriate solution for automatic assembly. However, the existing robots cannot meet the internal fastening requirements. A new robot with a prismatic joint and four revolute joints (1P4R) was developed to perform the positioning and operation in the wingbox. A compact arm link was designed, and mechanical frame structures were set up. The control system was also set up for the robot’s motion. Then, the forward kinematic model was carried out with the matrix transformation method, and in the analysis the workspace entirely covered the wingbox. The inverse kinematic model was established using the geometric method, and through calculation and simulation, the inverse kinematic equations were verified and refined.

Inverse Kinematics Proposal to Automatize the 3D Scanning of Handball Shoes by Using a Robotic Arm with 3 Actuated Joints

“…-Mounting a handheld 3D scanner on a machine tool for which inverse kinematics was performed in order to perform automated scanning [3][4][5]; -Mounting a handheld 3D scanner on a robot [6]; -Mounting a handheld 3D scanner on a tripod, the object to be scanned being positioned on a rotating table [7].…”