Research Papers - Department of Mechanical Engineering

Permanent URI for this collectionhttps://rda.sliit.lk/handle/123456789/604

Browse

Filters

2009 - 200912020 - 20221

Advanced Search

Filter by

Settings

Subject: search.filters.subject.robotic arm

Search Results

Now showing 1 - 2 of 2
  • Thumbnail Image
    PublicationOpen Access
    Development of an underwater robotic arm using multibody dynamics approach
    (2022-02-05) Fernando, S; Perera, M
    Underwater robotic arms are important devices that enables workers to carry out tasks remotely from a safe distance reducing or eliminating the risks that are involved with the task. The primary objective of the robotic manipulator is to perform maintenance and cleaning activities of the hull of a ship. However, the control of these devices underwater is quite complicated due to the numerous factors that make these systems unstable and non-linear. The aim of this study is to develop a multibody dynamic robotic manipulator model, integrated with a control strategy to optimize and obtain stable kinematics solutions. The hydrodynamic forces are integrated to the manipulator model considering buoyancy forces and surface drag forces. A basic algorithm is used to generate the joint angles using 7 geometrical parameters. The control of the manipulator was done to simply follow any path that represents the given coordinates. The P, I and D parameters are tuned individually to optimize the kinematic solution of the manipulator. 3-DOF articulated manipulator is the commonly used manipulator configuration. However, a 6-DOF manipulator configuration was selected in this study to allow for change in orientation using wrist motions.
  • Thumbnail Image
    PublicationEmbargo
    Design and control of a high performance SCARA type robotic arm with rotary hydraulic actuators
    (IEEE, 2009-05-03) Liyanage, M. H; Krouglicof, N; Gosine, R
    This study proposes a selective compliant assembly robotic arm (SCARA) with two revolute joints for poultry deboning. The joints of the arm are based on two high performance rotary type hydraulic actuators. These actuators are operated by servo valves, which control hydraulic fluid flow and direction. A PID based independent joint control system is considered for controlling the position of each joint. The system was modelled using the MATLAB-SIMULINK toolbox. The simulation results show that the arm was capable of covering a work envelope of 0.9 m times 0.9 m, reaching controlled velocities of up to 7.5 m/s with an average of 5.8 m/s. Obtaining such high speeds and torques would be a difficult task with electrical actuators of the capacity as the hydraulic counterparts considered here.