Document Type
Thesis
Date of Award
1-31-1986
Degree Name
Master of Science in Mechanical Engineering - (M.S.)
Department
Mechanical Engineering
First Advisor
Sachio Nakamura
Second Advisor
Rajesh N. Dave
Third Advisor
Bernard Koplik
Abstract
This thesis uses the HOUIE.BYLI graphics software package to simulate the kinematics of a six degree of freedom, MAKER I robot. The coordinate frames for the various links of the robot were established. The kinematic equations for the manipulator were developed snd solved using the techniques of inverse geometric transformations and transformations of objects in 3D space. A program was also developed to calculate the joint variables of the manipulator given any point on, and the orientation of, an object. These variable values are used to direct the robot end effector to the given point. This can be seen in the display as the robot simulates a 'pick and place' action.
Due to the limitations of the DISPLAY program in the MOVIE.BYU software, the rotations and translations of all the joints could not be incorporated in the display. However, with suitable modifications to the source code of the DISPLAY program, one can successfully implement all the rotations and translations. This could not be done here as access to the source code was not available. So, s general 'pick and place' action of the MAKER I robot has been shown.
Recommended Citation
Vishwanathan, Ramamurthy, "Graphic display of robot kinematics" (1986). Theses. 3392.
https://digitalcommons.njit.edu/theses/3392
