Modelamiento y simulación de un robot SCARA de tres grados de libertad empleando SolidWorks y Matlab/Simulink®
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RevActaNova.
Abstract
Este trabajo presenta el modelado y simulación de un robot SCARA de 3 grados de libertad, establece los aspectos comparativos entre el método Euler-Lagrange y el uso de Solidworks para el seguimiento de trayectorias. Son presentados el modelo cinemático y dinámico del robot SCARA considerando la estructura modelada en SolidWorks, en este último se incluye la estructura mecánica, selección de material y su respectivo análisis estructural. Una vez finalizado el modelo CAD del robot SCARA, se procedió a la exportación del modelo al entorno de Matlab/Simulink® mediante el complemento de Simscape Multibody. Paralelamente, se presenta un modelo matricial basado en el método de Euler-Lagrange, adicionalmente el complemento de Simscape Multibody permitió realizar el dimensionado de los actuadores. Con los modelos basados en matrices y CAD son realizadas simulaciones y se establecen comparaciones entre ambos modelos considerando la trayectoria planeada. Se establecen ventajas y desventajas sobre el uso de ambos modelos.
This paper presents the modeling and simulation of a SCARA robot with 3 degrees of freedom, establishes the comparative aspects between the Euler- Lagrange method and the use of Solidworks for trajectory tracking. The kinematic and dynamic model of the SCARA robot is presented considering the structure modeled in SolidWorks, in the latter the mechanical structure, material selection and its respective structural analysis are included. Once the CAD model of the SCARA robot was finished, the model was exported to the Matlab/Simulink® environment using the Simscape Multibody plugin. In parallel, a matrix model based on the Euler-Lagrange method is presented, additionally the Simscape Multibody plugin allowed the sizing of the necessary actuators for the robot. With the models based on matrixes and CAD, simulations are carried out and comparisons are established between both models considering the planned trajectory. Advantages and disadvantages of the use of both models are established.
This paper presents the modeling and simulation of a SCARA robot with 3 degrees of freedom, establishes the comparative aspects between the Euler- Lagrange method and the use of Solidworks for trajectory tracking. The kinematic and dynamic model of the SCARA robot is presented considering the structure modeled in SolidWorks, in the latter the mechanical structure, material selection and its respective structural analysis are included. Once the CAD model of the SCARA robot was finished, the model was exported to the Matlab/Simulink® environment using the Simscape Multibody plugin. In parallel, a matrix model based on the Euler-Lagrange method is presented, additionally the Simscape Multibody plugin allowed the sizing of the necessary actuators for the robot. With the models based on matrixes and CAD, simulations are carried out and comparisons are established between both models considering the planned trajectory. Advantages and disadvantages of the use of both models are established.
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Vol. 10, No. 3