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Kinematic Design of a 3-DoF Robot Manipulator for Automatic handling of Build-Boxes
Halmstad University, School of Information Technology.
2019 (English)Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

The goal of this project has been to make a prototype model of a 3-DOF PPM manipulator based on an old prototype for the purpose of moving heavy build boxes from a 3D-printer to an oven. The project was focused on the development of the kinematic model of the manipulator. By using parallel mechanisms in the mechanical design the number of actuators could be reduced and the remaining actuators could be placed on the base of the manipulator. The model was simulated in V-rep for motion verification.

Abstract [sv]

Målet med det här projektet har varit att skapa digital prototyp av en 3-DOF (Degrees of Freedom) PPM (Planar Parallel Mechanism) arm. Modellen är baserad på en gammal prototyp och syftet med armen är att flytta tunga bygglådor från en 3D-Printer till en ugn. Projektet har fokuserats på att ta fram en kinematisk model till armen. Genom att använda parallel länkage (Planar Parallel Mechanism) i den mekaniska designen kunde antalet motorer reduceras och de befintliga motorerna kunde placeras på armens basplatta. Genom att använda den kinematiska modellen kunde armen simulars i programmet V-rep för att testa designen.

Place, publisher, year, edition, pages
2019. , p. 54
Keywords [en]
Robotics
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hh:diva-39778OAI: oai:DiVA.org:hh-39778DiVA, id: diva2:1325393
External cooperation
Digital Metal AB
Educational program
Mechatronic Engineer, 180 credits
Supervisors
Examiners
Available from: 2019-06-18 Created: 2019-06-15 Last updated: 2019-06-18Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf