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Robotics

We present the modeling of Robot Motion Using Alibre Expert. This project is based on parts from Lynxmotion. The modeling of the Robot in Alibre greatly benefited from the models at Lynxmotion's Website. However, some parts had to be created from scratch. Also some of the existing models had to be changed in order to model the Robot's dynamic behavior using Alibre Motion. The Robot is primarily modeled after the design at Lynxmotion.

Note that the gripper is free to rotate about its axis. No Servo is controlling it. All of its dynamic motion is due to the action of the servo motors on the three joints. Earth Gravity is in effect.

Details of the Robot Design can be found in this PDF. Make sure to click on the image in the PDF to get all the view options.

Click on the image below to see the video.

robot

The following book is recommended for analyzing the motion dynamics of the robot, predicting performance and comparing the results to the modeling and simulation.

Reza Jazar, Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition), Springer (2010)

More details are forthcoming.