Kinematic Analysis of A 4-Axis Manipulator Design with 2-Axis Gripper
| Main Authors: | Yanto, Asmara; Institut TeknologiPadang, Saferi, Rozi; Institut Teknologi Padang, Anrinal, Anrinal; Institut Teknologi Padang, Azhar, Fikri; Institut Teknologi Padang |
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| Format: | Article info application/pdf eJournal |
| Bahasa: | eng |
| Terbitan: |
LP2M - Institut Teknologi Padang
, 2018
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| Subjects: | |
| Online Access: |
https://ejournal.itp.ac.id/index.php/tmesin/article/view/1135 https://ejournal.itp.ac.id/index.php/tmesin/article/view/1135/761 |
Daftar Isi:
- The purpose of this work is to analyze the kinematic of a manipulator that was designed to has four revolute movements (R1, R2, R3 and R4) and is equipped with a gripper that has one revolute movement (R) and one prismatic movement (P). The analysis was conducted by varying R1, R2, R3 and R4 of manipulator and R and P of gripper. Kinematic analysis was carried out using the Forward Kinematics method based on DH-Parameters of manipulator and gripper. Manipulator was designed to be consist of 120 mm of Link-1, 200 mm of Link-2, 250 mm of Link-3 and 250 mm of Link-4. Revolute movements range of manipulator was designed for variation of R1, R2, R3 and R4, and with movements range of gripper for variation of R and P. From this work can be concluded that manipulator has 228.5 mm of minimum range radius of end-effector and 547.0 mm of maximum range radius of end-effector.