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19 views5 pages

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Ahmed Mansour
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Home-Use Automatic Watering

Robot Kinematic Analysis


Sub: Mechatronics Engineering

By
Ahmed Mansour Mahmoud 231
Ali Sayed Ali 193
Mahmoud Abd Elazeem Kamal 160
Mohammed Shahat Abdullah 140
Shady Mustafa Ibrahim 187
Shrouk Reyad Mansour 44
Sec:3
DR: - Tarek Abbas
ENG: - Enaam Taha
Mathematical equations:
Let's assume the following values:
• (Arm mass) m = 2, kg
• (Gravitational acceleration) g= 9.81 m/s²
• (the required height of the arm.) h=0.5 m
• (the horizontal distance traveled by the arm). d = 1, m
• (the time required to reach the desired position). t =2 S

1) Work calculation “W”:


W = m. g. h = 2*9.81*0.5 = 9.81 J.
2) Speed calculation ”V”
V = d / t = 1 / 2 = 0.5 m/sec.
3) Calculate kinetic energy “KE”.
KE = ½ mv^2 = ½ * 2 * (0.5) ^2 = 0.25J.
4) Total energy calculation “E”.
E = W + KE. = 9.81 + 0.25 = 10.06 J.
5) Power calculation ”P”.
P = E/t = 10.06 / 2 = 5.03W.
1-Determine the length and dimensions of the
links.
To design the arm, we will divide it into two links to
achieve a total length that reaches the required
distance.
where:
Let us assume that the total length required is:
d + h = 1 + 0.5 = 1.5m.
2-Calculate the torque for each joint:
To calculate the torque required at each joint we
use the torque equation:
T = F * r.
Force required to lift and carry the arm: F
The distance from the joint to the center of mass
of the link: r
Force calculation: F
To lift the arm with a mass of 2 kg, the force is:
F = mg = 2*9.81 = 19.62N
Torque at the first joint (base joint).
Since the entire arm must rise around this joint, we
take the length of the entire arm:
T1 = F * L1 = 19.62 * 0.75 = 14.715 Nm.
Torque at the second joint (between the two links
L1, L2).
Since the second link extends from the endpoint of
the first link, the length of this link will be used here:
T2 = F * L2 = 19.62 * 0.75 = 14.715 Nm.
references

➢ "Introduction to Robotics: Mechanics and Control" by John J.


Craig
➢ This book is a foundational resource in robotics, covering
forward and inverse kinematics, dynamics, and control of
robotic arms. It provides a detailed explanation of the
Denavit-Hartenberg (D-H) parameters, Newton-Euler
dynamics, and other essential topics.
➢ Reference: Craig, J. J. (2004). Introduction to Robotics:
Mechanics and Control. Pearson Prentice Hall.
➢ "Robot Modeling and Control" by Mark W. Spong, Seth
Hutchinson, and M. Vidyasagar
➢ This book explains robotic modeling with a strong focus on
kinematics and dynamics, including D-H parameters and
energy-based analysis.
➢ Reference: Spong, M. W., Hutchinson, S., & Vidyasagar, M.
(2006). Robot Modeling and Control. Wiley.
➢ "Robotics, Vision and Control: Fundamental Algorithms in
MATLAB" by Peter Corke.
➢ A practical guide that covers robotics kinematics, dynamics,
and control using MATLAB, making it easier to simulate and
test various robotic configurations and movements.
➢ Reference: Corke, P. (2011). Robotics, Vision and Control:
Fundamental Algorithms in MATLAB. Springer.

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