uArm Swift simulation and control
This paper investigates the development of a kinematic solution and simulated model of the uArm Swift Pro, a vertically articulated robot with three degrees of freedom. This robotic manipulator is specifically designed for recreational purposes and thus can be used as an educational tool for enginee...
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2024-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://www.matec-conferences.org/articles/matecconf/pdf/2024/18/matecconf_rapdasa2024_04014.pdf |
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| _version_ | 1846125698060648448 |
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| author | Schütz Damien Hepworth J.H. |
| author_facet | Schütz Damien Hepworth J.H. |
| author_sort | Schütz Damien |
| collection | DOAJ |
| description | This paper investigates the development of a kinematic solution and simulated model of the uArm Swift Pro, a vertically articulated robot with three degrees of freedom. This robotic manipulator is specifically designed for recreational purposes and thus can be used as an educational tool for engineering students. A mathematical solution was developed which showcases how the robot moves and orientates itself when given desired output configurations. Furthermore, this analytical solution was implemented in Simulink to visually demonstrate the effects of changing parameters such as the joint angles of the uArm. Once complete, this model was tested with the physical manipulator to determine its accuracy and establish the legitimacy of using the simulation to demonstrate key concepts in robotics, such as forward and inverse kinematics. The testing illustrated that the proposed simulation was precise and a viable method to showcase the operation of this robot. |
| format | Article |
| id | doaj-art-8a61963194f54d92a357f5923de46f20 |
| institution | Kabale University |
| issn | 2261-236X |
| language | English |
| publishDate | 2024-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj-art-8a61963194f54d92a357f5923de46f202024-12-13T10:05:34ZengEDP SciencesMATEC Web of Conferences2261-236X2024-01-014060401410.1051/matecconf/202440604014matecconf_rapdasa2024_04014uArm Swift simulation and controlSchütz Damien0Hepworth J.H.1* Department of Mechanical Engineering, University of Cape Town* Department of Mechanical Engineering, University of Cape TownThis paper investigates the development of a kinematic solution and simulated model of the uArm Swift Pro, a vertically articulated robot with three degrees of freedom. This robotic manipulator is specifically designed for recreational purposes and thus can be used as an educational tool for engineering students. A mathematical solution was developed which showcases how the robot moves and orientates itself when given desired output configurations. Furthermore, this analytical solution was implemented in Simulink to visually demonstrate the effects of changing parameters such as the joint angles of the uArm. Once complete, this model was tested with the physical manipulator to determine its accuracy and establish the legitimacy of using the simulation to demonstrate key concepts in robotics, such as forward and inverse kinematics. The testing illustrated that the proposed simulation was precise and a viable method to showcase the operation of this robot.https://www.matec-conferences.org/articles/matecconf/pdf/2024/18/matecconf_rapdasa2024_04014.pdf |
| spellingShingle | Schütz Damien Hepworth J.H. uArm Swift simulation and control MATEC Web of Conferences |
| title | uArm Swift simulation and control |
| title_full | uArm Swift simulation and control |
| title_fullStr | uArm Swift simulation and control |
| title_full_unstemmed | uArm Swift simulation and control |
| title_short | uArm Swift simulation and control |
| title_sort | uarm swift simulation and control |
| url | https://www.matec-conferences.org/articles/matecconf/pdf/2024/18/matecconf_rapdasa2024_04014.pdf |
| work_keys_str_mv | AT schutzdamien uarmswiftsimulationandcontrol AT hepworthjh uarmswiftsimulationandcontrol |