Robot Kinematics, Dynamics and a Planar Robot Design
MATLAB scripts for kinematics, Jacobians and dynamics, and an Inventor design of a three-link planar robot with motor and gearbox selection.
Media
What was built
Two practicals. The first uses the Robotics Toolbox for direct and inverse kinematics, Jacobians, dynamics and joint trajectories (polynomial and trapezoidal), plus two Simulink models. The second is a planar three-link robot designed in Autodesk Inventor. It has a dynamic simulation with trapezoidal velocity profiles from 0 to 0.6 s. The joint torques from that simulation are used to select motors and gearboxes, with a safety factor of 3.
Facts
| Item | Value |
|---|---|
| Link lengths | 120, 100 and 80 mm |
| Torque safety factor | 3 |
Links
No public repository for this project.