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joint-2, there should not be significant change in workspace boundary but the internal singularities are reduced significantly. There may be existance of unreachable point within the workspace boundary or outside of it due to physical constraints of mechanism. Singularity is a case of infinite acceleration in such cases. The value of A & C are varied from x10 ° to x90 ° for P ° ±x, y² i.e. workspace boundary determination as plotted in figure 11. Fig -11: Work space boundary for 2 DOF serial manipulator CONCLUSIONS In this work, the mathematical formulation of complete kinematics and dynamics of two degrees of freedom robotic arm is presented. The simulation of kinematics and dynamics is performed using Pro/Engineer software and results are compared with analytical results. The results are plotted for the performance measurement using condition number and manipubality index. The value of condition number is not well at time of actuation as well as at time of reaching the end of joint limit. The work space boundary represents the limitation of actuations and the space for a placement of work parts. In a robot joint, it is known that friction can relate to temperature, force/torque levels, position, velocity, acceleration, lubricant properties. In this paper, models included nonlinearities and frictions are neglected. It is observed that average variation in the torques computed by Newton’s Euler at the both joint axis around 3% at all possible position compared to Lagrangian dynamics approach using MATLAB and Pro/engineer software. ACKNOWLEDGEMENTS The authors would like to acknowledge support of Sophisticated Instrumentation Centre for Applied Research and Testing (SICART). REFERENCES [1]. Fernando Reyes, Rafael Kelly , Experimental evaluation of model-based controllers on a direct-drive robot arm, Mechatronics, Vol. 11, P.P. 267-282, 2001 [2]. Jolly Shah, S.S.Rattan, B.C.Nakra, Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network, World Academy of Science, Engineering and Technology, Vol. 81, pp. 282-285, 2011 [3]. Denavit, J. & Hartenberg, R. S., “A kinematic notation for lower-pair mechanisms based on matrices”, Journal of Applied Mechanics, Vol., 1, pp. 215-221, 1955 [4]. Tarcisio A.H. Coelho, Liang Yong, Valter F.A. Alves , “Decoupling of dynamic equations by means of adaptive balancing of 2-dof open-loop mechanisms”, Mechanism and Machine Theory 39, (2004), 871–881 [5]. B.K. Rout, R.K. Mittal, “Parametric design optimization of 2-DOF R–R planar manipulator- A design of experiment approach”, Robotics and Computer-Integrated Manufacturing, 24 (2008) 239–248 [6]. Vigen Arakelian , Jean-Paul Le Baron, Pauline Mottu, “Torque minimization of the 2-DOF serial manipulators based on minimum energy consideration and optimum mass redistribution”, Mechatronics, 21 (2011) 310–314 [7]. Ravindra Biradar, M.B.Kiran, “The Dynamics of Fixed Base and Free-Floating Robotic Manipulator”, International Journal of Engineering Research & Technology, Vol. 1 (5), 2012, 1-9 -400 -200 0 200 400 0 1 2 3 4 5 6 7 8 9 10 Time x y -200 -100 0 100 200 300 400 -400 -200 0 200 400 y_P3 (mm) x_P3 (mm) -200 -100 0 100 200 300 400 -400 -200 0 200 400 y_P3 (mm) x_P3 (mm) x_y_10 x_y_20 x_y_30 x_y_40 x_y_50 x_y_60
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  • Fall '19
  • International Journal of Research in Engineering and Technology

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