Kinematics analysis of 6-DoF articulated robot with spherical wrist

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dc.contributor.authorAsif, Seemal
dc.contributor.authorWebb, Philip
dc.date.accessioned2021-02-10T14:28:14Z
dc.date.available2021-02-10T14:28:14Z
dc.date.issued2021-02-02
dc.description.abstractThe aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.en_UK
dc.identifier.citationAsif S, Webb P. (2021) Kinematics analysis of 6-DoF articulated robot with spherical wrist. Mathematical Problems in Engineering, Volume 2021, Article number 6647035en_UK
dc.identifier.issn1024-123X
dc.identifier.urihttps://doi.org/10.1155/2021/6647035
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16326
dc.language.isoenen_UK
dc.publisherHindawi Publishing Corporationen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectComau NM45 Manipulatoren_UK
dc.subjectinverse kinematicsen_UK
dc.titleKinematics analysis of 6-DoF articulated robot with spherical wristen_UK
dc.typeArticleen_UK

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