MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS

Authors

  • Mohammad Afif Ayob Advanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia
  • Wan Nurshazwani Wan Zakaria Advanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia
  • Jamaludin Jalani Department of Electrical Engineering Technology, Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia
  • Mohd Razali Md Tomari Advanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia

DOI:

https://doi.org/10.11113/jt.v76.5486

Keywords:

Dendritic gels, tunable materials

Abstract

This paper presents the reliability and accuracy of the developed model of 5-axis Mitsubishi RV-2AJ robot arm. The CAD model of the robot was developed by using SolidWorks while the multi-body simulation environment was demonstrated by using SimMechanics toolbox in MATLAB. The forward and inverse kinematics simulation results proposed that the established model resembles the real robot with accuracy of 98.99%. 

References

Esa, M. F. M., Ibrahim, H., Mustaffa, N. H. and Majid, H. A. 2011. The Mitsubishi MelfaRxm middleware and application: A Case Study of RV-2AJ Robot. IEEE Conference on Sustainable Utilization and Development in Engineering and Technology (STUDENT). 138-143.

Mamdouh, M. and Ramadan, A. A. 2012. Development of a Teleoperation System with a New Workspace Spanning Technique. IEEE Int. Conf. Robot. Biomimetics. 1570-1575.

Jambak, M. I., Haron. H. and Nasien, D. 2008. Development of Robot Simulation Software for Five Joints Mitsubishi RV-2AJ Robot Using MATLAB/Simulink and V-Realm Builder. Fifth Int. Conf. Comput. Graph. Imaging Vis. 83-87.

Buitrago, J. A., Giraldo, F. D. and Lamprea, J. A. 2011. Remote Access Lab for Mitsubishi RV-2AJ Robot. IX Lat. Am. Robot. Symp. IEEE Colomb. Conf. Autom. Control. IEEE. 1-7.

Crainic, M. F. and Preitl, S. 2014. Virtual Laboratory for a Remotely Operating Robot Arm. SACI-9th IEEE Int. Symp. Appl. Comput. Intell. Informatics, Proc. 1: 101-104.

Yussof, S., Anuar, A. and Fernandez, K. 2005. Algorithm for Robot Writing Using Character Segmentation. Proceedings-3rd International Conference on Information Technology and Applications, ICITA.

Crainic, M. F., Preitl, S., Sandru, L. A. and Dolga, V. 2014. Secure Handwriting Using a Robot Arm for Educational Purpose. Methods and Models in Automation and Robotics (MMAR) 19th International Conference On. 58-63.

Mitsubishi Electric. 2009. MELFA Industrial Robots. Consistent Quality-Precise Control.

SimMechanics: Model and Simulate Multibody Mechanical System Retrived Jan 13, 2015 from http://www.mathworks.com/products/simmechanics.

Haklidir, M. and Tasdelen, I. 2009. Modeling, simulation and Fuzzy Control of an Anthropomorphic Robot Arm by Using Dymola. J. Intell. Manuf. 20(2): 177-186.

Ayob, M. A., Zakaria, W. N. W and Jalani, J. 2014. Forward Kinematics Analysis of a 5-axis RV-2AJ Robot Manipulator. Electrical Power, Electronics, Communications, Controls and Informatics Seminar (EECCIS. 87-92.

Downloads

Published

2015-09-13

Issue

Vol. 76 No. 4: Systems Engineering for Advanced Mechatronics

Section

Science and Engineering

License

Copyright of articles that appear in Jurnal Teknologi belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions, or any other reproductions of similar nature.

How to Cite

MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS. (2015). Jurnal Teknologi, 76(4). https://doi.org/10.11113/jt.v76.5486