• Corpus ID: 11780737

Teaching the Design of Parallel Manipulators and Their Controllers Implementing MATLAB, Simulink, SimMechanics and CAD*

@inproceedings{Tlale2005TeachingTD,
  title={Teaching the Design of Parallel Manipulators and Their Controllers Implementing MATLAB, Simulink, SimMechanics and CAD*},
  author={N. S. Tlale and P. Zhang},
  year={2005}
}
The teaching of parallel mechanisms and their controllers is a difficult task because of the complex mathematics that must be solved for the direct and indirect kinematics problems. In order to help students understand the kinematics and the dynamics of parallel manipulators and their controllers, we have designed a final-year robotics course based on MATLAB, Simulink and SimMechanics. Students are given specifications of the parallel manipulator that they must design, such as parameters of the… 
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6 Citations
Highly Influential Citations
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6 Citations

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Citation Type

Model-based motion simulation of delta parallel robot
For a parallel configuration of a robot manipulator, the solution of Forward Kinematics (FK) is tough compared to Inverse Kinematics (IK). This paper presents the model-based motion planning of a…
Dynamic simulation of the CAD model in SimMechanics with multiple uses
TLDR
The obtained simulation results for both models are similar, which confirms the proposed approach, and the advantages of using this approach are shown.
Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics
TLDR
The analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return mechanism is used for the flexion and extension motion of the fingers, respectively.
Dynamic Simulation of a KUKA KR5 Industrial Robot using MATLAB SimMechanics
TLDR
A method for the dynamic simulation of a KUKA KR5 industrial robot using MATLAB SimMechanics using Autodesk Inventor to develop CAD model of KUK a KR5 robot parts and its assembly and results were verified.
Dynamic Simulation of a KUKA KR 5 Industrial Robot using MATLAB
The paper discusses a method for the dynamic simulation of a KUKA KR5 industrial robot using MATLAB SimMechanics. As it is difficult to model complicated 3D objects directly in SimMechanics…
Simulation Tool for Analyzing the Kinetostatic Effects of Singularities in Parallel Robots
TLDR
This paper presents an educational simulation tool to help students to understand how singularities affect the control of the robot by means of the visualization of four velocity and force ellipsoids that degenerate when the robot crosses a singularity.

References

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