This master thesis deals with the simulation of the six degrees of freedom Delta robot Fanuc M-1iA/0.5A. A multi-body model was built in Mathworks Matlab Simulink from a CAD drawing using Simscape Multibody blocks. The robot wrist is considered at constant orientation, thus the model has only three degrees of freedom. The model was used to detect the robot workspace, to solve the kinematics problems and to analyse the motor torques and the forces in the structure. The work contributed with relevant knowledge about the M-1iA/0.5A and produced a software framework easily adaptable for further analysis or to other robot models.
Questa tesi di laurea magistrale concerne la simulazione del Delta robot Fanuc M-1iA/0.5A a sei gradi di libertà. Mathworks Matlab Simulink è stato usato per costruire un modello multibody con blocchi Simscape Multibody a partire da un disegno CAD del robot. Il polso robotico è considerato rigido, dunque il modello ha solo tre gradi di libertà. Il modello è usato per rilevare lo spazio di lavoro, risolvere i problemi cinematici, e analizzare la coppia fornita dai motori e le forze nella struttura. Il lavoro ha contribuito con conoscenze importanti sul M-1iA/0.5A e ha prodotto un complesso di software facilmente adattabile a ulteriori analisi o applicabile ad altri modelli di robot.
Analysis and modelling of operational characteristics of Delta Robot FANUC M-1iA using MATLAB/Simulink
Viganò, Michele
2021/2022
Abstract
This master thesis deals with the simulation of the six degrees of freedom Delta robot Fanuc M-1iA/0.5A. A multi-body model was built in Mathworks Matlab Simulink from a CAD drawing using Simscape Multibody blocks. The robot wrist is considered at constant orientation, thus the model has only three degrees of freedom. The model was used to detect the robot workspace, to solve the kinematics problems and to analyse the motor torques and the forces in the structure. The work contributed with relevant knowledge about the M-1iA/0.5A and produced a software framework easily adaptable for further analysis or to other robot models.File | Dimensione | Formato | |
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https://hdl.handle.net/10589/195215