4-Axis Robot Design and Simulation Based on SimulationX

Author

Bi, Luyan ; Liu, Lisheng

Author_Institution

Control Sci. & Eng. Dept., Harbin Ind. Univ., Shenzhen, China

fYear

2011

fDate

21-23 Nov. 2011

Firstpage

65

Lastpage

68

Abstract

This paper presents a 4-axis robot system model which is analyzed from kinematic aspect and simulated by SimulationX. Firstly, the robot kinematics model is established and robot workspace is obtained based on the robot kinematics analysis by means of Denavit-Hartenberg method. Furthermore, robot system model is founded in software SimulationX as well as mechanical and control systems are analyzed through simulation. Based on simulation result of SimulationX which includes every property of components in the model of SimulationX, the performance and feasibility of the 4-axis robot model can be clearly evaluated and verified.

Keywords

control engineering computing; robot kinematics; 4-axis robot design; Denavit-Hartenberg method; control systems; mechanical systems; robot kinematics model; robot workspace; software SimulationX; Actuators; Analytical models; Joints; Kinematics; Service robots; Servomotors; 4-axis robot; Denavit-Hartenberg Method; SimulationX; kinematics solution; mechanical system;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on

Conference_Location

Kaohsiung

Print_ISBN

978-1-4577-1881-6

Type

conf

DOI

10.1109/RVSP.2011.15

Filename

6114896