چكيده به لاتين
Abstract:
In this thesis, by using robotic systems in various applications, the need for the required structural development and the experience of making elastic 2R manipulator in Iran University of Science and Technology Robotic Laboratory, design, implement, construct, model, and simulate an elastic RP manipulator in addition to the design and implementation of its user interface graphic software, in this thesis, the initial design, final design, construction process, simulation by using SimMechanics software as one of the subcategories of the software component of MATLAB As well as the LabVIEW graphical interface design is presented.
Compared to previous research, the use of RP joints in relation to the length of the variable arm has a complexity of modeling and implementation, and also the need to implement linear motion of the manipulator using a quick, precise and cost-effective mechanism of design problems. In this study, the use of the linear guide mechanism has been taken into account through the precision of the ball screw as well as the fast and light structure of the miniature model. This modulus is evaluated based on the Lead of ball screw pattern in different models.
However, due to the tangential motion of the wagon and the ball screw, its displacement due to the centrifugal fluctuation resulting from the rotational torque of the R joint, rather than the simulated model. Considering the use of flexible arms in the structure of this robot and its superiority due to low weight and high load-to-weight ratios, which leads to reduced energy consumption, as well as the disadvantages caused by vibration caused by elasticity of the arm it creates the system unstable. The precision of the reciprocating joint in linear motion, decrease the error caused by these vibrations.
Setting up each robot requires an interface so that the user can communicate with the robot through a graphical interface. This connection is generally via USB cable. In this context, LabVIEW has been used for many of the benefits and the ability to create super-serial communications. Finally, the relationships obtained and the model presented in the physical environment of the MATLAB / SimMechanics software are simulated and compared. Experimental results obtained from the empirical system are also estimated by the results of the simulation of the theoretical model, which adds to the validity of the proposed model.
Keywords: RP Laboratory setup, Elastic Manipulator, Revolute – Prismatic Joints, LabVIEW graphical interface, SimMechanics simulation software
