基于纳米粘土的冗余SCARA机器人关节动力学特性研究

IF 1.2 4区地球科学 Q3 GEOCHEMISTRY & GEOPHYSICS

Periodico Di Mineralogia Pub Date : 2022-04-12 DOI:10.37896/pd91.4/9148

M. Mohan, V. Anbumalar, P. Kumar

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引用次数: 0

摘要

．近年来，在机器人结构设计中，纳米复合材料逐渐取代了传统材料，其性能得到了提高。本文通过改变纳米粘土的重量百分比(0、1和2 wt%)，描述了纳米粘土增强AA 5083作为一种新型材料替代冗余SCARA (RSCARA)机器人设计的影响。通过赋予新开发的纳米复合材料的材料性能，利用三维计算机辅助设计(CAD)建模软件Solid Works对RSCARA零件进行建模。将所建立的模型导出到MATLAB/ Simscape多体仿真环境中，转换成多体机电系统模块。设计了关节块所需的输入/输出原语，并通过Simscape多体仿真导出了关节块的动态参数扭矩。本文给出了采用纳米粘土增强AA 5083材料的RSCARA实体孔和圆孔机械臂主臂和前臂连杆机构的动力学性能仿真结果。

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Investigation on Joint dynamic property of Nanoclay based Redundant SCARA robot

. In recent years, for robot structural design, the conventional materials are replaced by alternative nanocomposite materials for its enhanced properties. This paper describes the impact of Nanoclay reinforced AA 5083 as a novel material replacement for the design of redundant SCARA (RSCARA) robot by varying the composition of Nanoclay in weight percentage (0, 1 and 2 wt%). The RSCARA parts are modelled by three dimensional (3D) computer aided design (CAD) modeling Solid Works package by imparting the material properties of newly developed nanocomposites. The model developed was exported to MATLAB/ Simscape Multibody Simulation environment and converted into multibody electromechanical system blocks. The required Input/output primitives are consigned for the joint blocks and the dynamic parameter torque was derived by the Simscape Multibody simulation. The results of the simulation regarding the dynamic performance obtained for RSCARA solid and round hole perforated manipulator main arm and fore arm links assigned with Nanoclay reinforced AA 5083 material is expressed in this research work.

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来源期刊

Periodico Di Mineralogia 地学-地球化学与地球物理

CiteScore

1.50

自引率

14.30%

发文量

审稿时长

>12 weeks

期刊介绍： Periodico di Mineralogia is an international peer-reviewed Open Access journal publishing Research Articles, Letters and Reviews in Mineralogy, Crystallography, Geochemistry, Ore Deposits, Petrology, Volcanology and applied topics on Environment, Archaeometry and Cultural Heritage. The journal aims at encouraging scientists to publish their experimental and theoretical results in as much detail as possible. Accordingly, there is no restriction on article length. Additional data may be hosted on the web sites as Supplementary Information. The journal does not have article submission and processing charges. Colour is free of charges both on line and printed and no Open Access fees are requested. Short publication time is assured. Periodico di Mineralogia is property of Sapienza Università di Roma and is published, both online and printed, three times a year.