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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.     

• Bond-Graph Model Based Stepper Motor Output Characteristics Simulation Implemented in LabVIEW Environment

  1-6.

  Zsolt Molnár

  Géza Husi

  Views:

  324

  In the industry, simulations are of great importance. They enable measurements to be made in different conditions about a virtual device, which are highly comparable to measurements made in a real life scenarios. Because of their wide range of usage in lower power drive systems, where precision and simplicity is a must, the subject of study is a permanent magnet stepper motor. For precise positioning purposes, it is essential to know the positioning behaviour of these devices. The model construction process involved an intermediate step, which consisted of creating the Bond-Graph of the motor based on pre-defined models available in the literature in this field. In the next step, the Bond-Graph model was converted to a block diagram of the motor. This permitted the direct implementation of the motor model in LabVIEW visual programming environment. The preliminary steps allows us to check and confirm the functionality and correctness of the model. This article covers in detail the model conversion and implementation steps of the simulation. At the end, the functionality of the simulation was tested.