seyedsaleh / hybridrobot-5dof

Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator 🤖

In The Name Of God

HybridRobot-5DOF

A 5-degree-of-freedom Hybrid Robot Manipulator
Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator 🤖
Explore the docs »

Report Bug & Request Feature

Table of Contents

1. About The Project
   • Built With
2. Parts
3. Results
4. Refereces
5. Contact
6. Roadmap

About The Project

Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype.

This project is based on a robot from reference article [1].

(back to top)

Built With

Major softwares/libraries used to this project:

• MATLAB 2020a
  • Robotics System Toolbox
  • Control System Toolbox
  • Symbolic Math Toolbox
• Simulink v10
• Solidworks

(back to top)

Parts

Robot Schematic

RVC Matlab toolbox

Robot Trajectory Result

Robot Control in Simulink

Simulated model in SolidWorks

All.mp4

(back to top)

Results

(back to top)

Refereces

[1] Guo, Wanjin & Li, Ruifeng & Cao, Chuqing & Gao, Yunfeng. (2016). Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator. Advances in Mechanical Engineering. 8. 10.1177/1687814016680309.

(back to top)

Contact

Seyedmohammadsaleh Mirzatabatabaei - @seyedsaleh - [email protected] Salman Amimotlagh - @SMotlaq - [email protected] Shima Naseri - @shimanaseri - [email protected] Project Link: https://github.com/seyedsaleh/HybridRobot-5DOF

(back to top)

Roadmap

• Project has been done.

See the open issues for a full list of proposed features (and known issues).

(back to top)

---