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What is Kinematic Model

Chapter 5
Handbook of Research on Green Engineering Techniques for Modern Manufacturing
It is a mathematical representation to define the orientation and translation of the manipulator is in the form of homogeneous transformation matrix.
Published in Chapter:
Kinematic Modelling and Simulation of 8 Degrees of Freedom SCARA Robot
Saravana Mohan M. (Kumaraguru College of Technology, India) and Anbumalar V. (Velammal College of Engineering and Technology, India)
Copyright: © 2019 |Pages: 21
DOI: 10.4018/978-1-5225-5445-5.ch005
Abstract
Robots are electromechanical systems that need mechatronic approach before manufacturing to reduce the development cost. In this chapter, the modelling of the 8 degrees of freedom (DOF) SCARA robot with a multiple gripper using SolidWorks CAD software and the dynamic study with the aid of MATLAB/SimMechanics is presented. The SCARA with multiple gripper is used for pick and place operation in manufacturing industries. The SolidWorks CAD model of SCARA with multiple grippers is converted into SimMechanics block diagram by exporting the 3D CAD model to the MATLAB/SimMechanics second generation technology environment. The motion sensing capability of the SimMechanics is used for determining the dynamic parameters of the manipulators. The SimMechanics block diagrams and the results of the dynamic study presented in this chapter infer that the structure of the robot can be changed to get the required dynamic parameters.
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