APPLICATION OF INDUSTRIAL ROBOT MANIPULATORS AT LIGHT INDUSTRY ENTERPRISES
DOI:
https://doi.org/10.30857/2706-5898.2026.2.3Keywords:
3D manipulator, spatial mechanism, kinematic analysis, computer modelling, mechatronic system, Arduino, servomotor, light industryAbstract
Purpose. Kinematic analysis and computer modelling of a 3D manipulator for the automation of technological operations at light industry enterprises.
Methodology. The study uses the method of vector coordinate transformation, in which links are represented as free vectors and characteristic points as radius vectors; the method of kinematic analysis of structural groups; methods of computer simulation and visualisation using the Mathcad software environment and the principles of structural analysis of Assur groups; and the method of parametric synthesis of a mechatronic system.
Results. A mathematical model of the position functions of the end effector was obtained, and the workspace, or operating zone, of the manipulator was visualised. Kinematic constraints related to the minimum and maximum rotation angles of the links were established, which is critical for optimising the interaction between the robot and the object. A mechatronic control system based on an Arduino microprocessor platform and servomotors of active kinematic pairs is presented. A program code, or sketch, was developed for accurate scaling of control signals using the map() function, which makes it possible to implement smooth and coordinated movements of the end effector.
Scientific novelty. Analytical methods for studying multi-link spatial mechanisms with specific kinematic constraints have been improved.
Practical value. The obtained research results provide the possibility of automating such processes as cutting, sewing and packaging, thereby increasing production accuracy and productivity. Analytical expressions were obtained for solving the forward kinematics problem and accurately determining the position of the working tool in space. The obtained results can be used in solving the inverse kinematics problem for the complete automation of trajectory planning for the movements of industrial robot manipulators.
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