Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
Robotic arms are widely used in industry to complete tasks which is difficult to be performed by human being due to high repeatability or hazardous environment. However, due to the complexity and quality required by some applications where two arms are required, the human ability to perform those...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2021
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/6935/1/24p%20ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED.pdf http://eprints.uthm.edu.my/6935/2/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6935/3/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20WATERMARK.pdf http://eprints.uthm.edu.my/6935/ |
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| Summary: | Robotic arms are widely used in industry to complete tasks which is difficult to be
performed by human being due to high repeatability or hazardous environment. However,
due to the complexity and quality required by some applications where two arms
are required, the human ability to perform those tasks sustains. This project presents
a conceptual design and configuration analysis of 11 Degrees of Freedom (DOF) dual
robotic arm using SOLIDWORKS and MATLAB. The analysis is via Devanit Hartenberg
approach. The design is built to solve the current challenges faced by industry
in term of workspace optimization and cost reduction with respect to the complexity
of tasks performed by human labors in production assembly nowadays in industry due
to the higher accuracy and better performance of human labor in term of speed which
is required due to the nature of the tasks performed. The structural design is built
using SOLIDWORKS and then the frame structure and configuration is performed using
Robotics Toolbox (RTB) in MATLAB, followed by the analysis of the workspace
and validation of efficiency. The analyzed results shown an improvement in term of
performed tasks complexity and optimization in workspace required by 43.4% minimization
in term of horizontal area, in addition to significant reduction in collision
chances between arms. In general, the project provided a suitable replacement for two
single robotic articulated arms in assembly line in industry. |
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