Trajectory Analysis and Dynamic Simulation of a 6 DOF Industrial Manipulator

Abstract

The popularization of the articulate industrial manipulator in most industrial work spaces is majorly as a result of its dexterity, robustness, and its ability to reach difficult configurations during an industrial task. This has inspired the research into the design and analysis of an articulate industrial manipulator to improve its accuracy and agility. The manipulator was modelled, then its kinematic and dynamic properties were established in Siemen’s Unigraphics software. An algorithm that generates and analyses the trajectory is presented, the trajectory was first parametrically defined, then dynamics of the manipulator was evaluated using Newton-Euler formulations to derive a state-space dynamic model which is a function of only the joints position (i.e. the only input required is the joints position) which can be easily updated as it moves along the desired path, the results were compared with results obtained from ADAMS and was seen to be more efficient. The algorithm was then implemented on the proposed manipulator and simulated in MATLAB by first setting it to force-free conditions, then it was loaded with 5kg and 10kg exerting a maximum torque of 5N and 10N respectively at the end-effector and simulated again. The algorithm was found to be computationally efficient and practical, furthermore, the algorithm would help students and researchers alike to analyze the trajectories and dynamics for manipulators more efficiently thereby enabling them to implement more stable control strategies for the industrial manipulators.