Research on the Motion and Dynamics of Biomimetic Manipulator with Seven Degrees of Freedom

Xuan, Liang; Peng, Siyuan; Guan, Tianmin; Li, Ning

doi:10.1109/icma.2019.8816207

Cited by 1 publication

(2 citation statements)

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“…For this, references were consulted about the last 5 years from three libraries (IEEExplore, IOPScience and ACM Digital Library). Figure 1 shows the line time of the investigations that have as title "Seven Degrees of Freedom" in the last two years this topic has increase its interest [1][2][3][4][5][6][7][8][9][10]. Within this review of references, 10 articles were found, which were divided into three main topics.…”

Section: Introductionmentioning

confidence: 99%

“…This highlights the development in Matlab of the angular displacements of the actuators through genetic algorithms, through a graphical interface and the construction of the manipulator [3]. Therefore, the articles describing applications of 7-DOF [1][2][3] were placed in the first topic. The study of the kinematics and dynamics of these manipulators is the most developed topic, proposing templates and methods based on 40% of the Denavit Hartenberg (D-H) algorithm [4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

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Mathematical Model Design for a 7-DOF robot and 6-DOF comparison simulation

Ordonez-Avila

Midence

Магомедов

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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Currently, serial manipulators are the boom in the industry. Most companies are looking for solutions that improve production processes and that are human collaborative. They seek to simulate the skills that humans perform. Nowadays there is a constant question of comparison between a redundant robot of 7-DOF and one that meets the necessary joints to perform complex jobs useful in the industry as is the 6-DOF. In this paper we design a mathematical model that describes the forwards kinematics of the 7-DOF manipulator using the famous D-H convention and determine if the kinematic chain of the manipulators interferes in the performance of their work and thus reach a comparison with its predecessor of 6-DOF in the industry by means of a simulation in CoppeliaSim. As the main results the 6-DOF is more useful for repetitive production assignments and the 7-DOF for human collaboration.

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