这个作业是对机器人进行位置分析和运动学分析

5CCS2ITR PROJECT ON ROBOT KINEMATIC

ANALYSIS

1. Aim

This project aims to assess students’ knowledge of investigating robots from their schematic

representation, to their position analysis, and kinematics analysis. The project is to work on

FANUC SR-3iA robot with the forward kinematics and inverse kinematics where separate

requirements are presented below with respect to each of the robots.

The forward and inverse kinematics play an essential role in robot analysis and programming.

It is only through the solution of these two problems that the robot manipulator can be

programmed to move through a trajectory, interact with its surroundings and develop the

required task.

In general, the analytical inverse kinematics result should be compared with the differential

inverse kinematics result. In addition, forward kinematics, inverse kinematics and Jacobian

matrix are used for mapping the joint space and the end-effector cartesian space, and

homogenous matrices are used to describe the end-effector position.

3. Task 1 on the Planar parallel robot (Analytical only)

Fig. 1 gives the sketch of a planar parallel robot. The robot is actuated by a linear actuator in

every leg. A fixed coordinate frame is located with origin at point G, also called frame G,

which is the center of the equilateral triangle O1O2O3. x0 is parallel to rO2/O1. A mobile

coordinate frame E is attached to the mobile platform. This coordinate frame has origin at

point E, which is the centre of the equilateral triangle B1B2B3. x1 is parallel to rB2/B1. The

dimensions of the robot are defined by the lengths of the edges of the equilateral triangles.

The edges of the equilateral triangle O1O2O3 are 300cm, while the edges of the equilateral

triangle B1B2B3 are 100cm. The length of A1B1, A2B2 and A3B3 are 100cm as well.

4. Task 2 on the SCARA robot

A) Background:

In 1979, the first SCARA (Selective Compliant Articulated Robot for Assembly) was

introduced in Japan and then in the United States. The FANUC SR-3iA is one of the three

models of robot manipulators belonging to the FANUC SCARA series and it’s also the

lightest model in the series. The FANUC SR-3iA is the perfect solution for small part

assembly and handling applications. It is a four-axis robot that brings fast speeds and

incredible precision to the production line. Based on its simple and reliable construction, the

FANUC SR-3iA provides accurate and consistent path performance which is necessary for

assembly and handling applications.

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