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• Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

  1-5.

  Alaa Saadah

  Husam Abdulkareem

  Géza Husi

  Views:

  587

  Since the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot.

  In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values.

  Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values.

  The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.     

• Performance Analysis of An Experimental Micro Flexible Manufacturing System (FMS)

  1-8.

  Şahin Yildirim

  Osman Yücel

  Views:

  115

  Due to advanced technology, it is very important the performance of FMS for sensivity, production quality, repeatability and energy consumptions. Flexible manufacturing systems (FMSs) are the most automated and technologically sophisticated of the machine cell types used to implement cellular manufacturing. An FMS usually has multiple automated stations and is capable of variable routings among stations, while its flexibility allows it to operate as a mixed model system. The FMS concept integrates many of the advanced technologies that we met in previous units, including flexible automation, CNC machines, distributed computer control, and automated material handling and storage.

  In this experimental investigation, vibration and accelerations analysis of an experimental FMS with 5 degrees of freedom robot manipulator are presented. Firstly, experimental measurement of accelerations and vibrations are trained with a vibration measurement system and sensors. However, the process of production of part is a cycle of exact production time.