Virtual Simulation and Experimental Verification for 3D-printed Robot Manipulators
With the rapid growth of 3D printing and associated innovations, this 3D printing fabrication technology is being increasingly used in academic research and industry. Robots can fabricated by 3D printed component parts that are simple, light, and cheap. The main objective of this work is to construct a robot manipulator that is based on 3D printing to meet the demand for low-cost and light structures. Moreover, the SolidWorks CAD model is used with LabVIEW to simulate the given trajectory. Real-time control with dynamic simulation is utilized to verify the kinematic calculations. Users of the various simulation capabilities of the proposed methodology can preview the simulated motion, and perceive and resolve discrepancies between the planned and simulated paths prior to execution of a task. Thus, a simulated system was proposed to assist users in programming the robot manipulator and improve the positioning of its motion. The main advantages of the proposed schemes are the lack of need to mount extra sensors on realistic robot manipulators to measure joint space coordinates, simplifying the hardware. These outcomes can also be used to demonstrate the application of the proposed scheme in an undergraduate robotics course.
KeywordsRobot Manipulators Kinematics End Effector 3D printing path planning
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