CAD Design, Analysis and Control of Dual - ARM Robot

Zahraa Niema Kamal, Hayder Mahdi Abdulridha and Mustafa Turki Hussein

In this research, the design, analysis and control of dual-arm robot with (13DoF) were introduced. The mechanical model of dual-arm robot (CAD model) was designed in Autodesk Inventor software. Then, a 3D CAD model was exported to the MATLAB / SimMechanics environment. Robotic toolbox for MATLAB was used to analyze the motion. Workspace of the two arms was also calculated. The dynamic analysis for the designed robot based on the CAD model parameters was done. Also, a joint space controller using a PID controller was applied to ensure joint motion control and show the importance of the arms in maintaining the stability of the robot. This research shows the importance of using graphical programming languages such as Autodesk Inventor and MATLAB/SimMechanics as powerful tools for simulating robotic system.

Volume 12 | Issue 5

Pages: 412-421

DOI: 10.5373/JARDCS/V12I5/20201908