An algorithm for serial planar manipulators that have an architecture R//(n)R by using Solidworks(2013) and Matlab/Simulink(2012)

Abstract

In this paper, we study the kinematic behavior of the postures (elbow down and elbow up) of a 2R robot for a same trajectory (straight line (point to point path)) created by inverse kinematics. It's found that there is a relation between the postures of this robot, this relation allows us to create other same trajectories of the postures by direct kinematics, and to develop a computer code by using SolidWorks(2013) and Matlab/Simulink(2012) to create a same trajectory by direct kinematics of the postures of the planar serial manipulators that have an architecture R//(n)R It's found from this analysis that the relation between the postures is dependent by the nature of (n) ( (n) an even number or (n) an odd number). SolidWorks (2013) and Matlab/Simulink (2012) are used to develop a computer code and the simulation of motion of the following planar serial robots (2R,5R, 6R).