University of SaskatchewanHARVEST
  • Login
  • Submit Your Work
  • About
    • About HARVEST
    • Guidelines
    • Browse
      • All of HARVEST
      • Communities & Collections
      • By Issue Date
      • Authors
      • Titles
      • Subjects
      • This Collection
      • By Issue Date
      • Authors
      • Titles
      • Subjects
    • My Account
      • Login
      JavaScript is disabled for your browser. Some features of this site may not work without it.
      View Item 
      • HARVEST
      • Electronic Theses and Dissertations
      • Graduate Theses and Dissertations
      • View Item
      • HARVEST
      • Electronic Theses and Dissertations
      • Graduate Theses and Dissertations
      • View Item

      Dynamics and Motion of a Six Degree of Freedom Robot Manipulator

      Thumbnail
      View/Open
      MONDRAGON-THESIS.pdf (8.466Mb)
      Date
      2013-02-01
      Author
      Mondragon, Carlos
      Type
      Thesis
      Degree Level
      Masters
      Metadata
      Show full item record
      Abstract
      In this thesis, a strategy to accomplish pick-and-place operations using a six degree-of-freedom (DOF) robotic arm attached to a wheeled mobile robot is presented. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Strong efforts have been made to incorporate technology to fulfill these needs. Several methods were implemented to make a 6-DOF manipulator capable of performing pick-and-place operations. Some of these methods were used to achieve specific tasks such as: solving the inverse kinematics problem, or planning a collision-free path. Other methods, such as forward kinematics description, workspace evaluation, and dexterity analysis, were used to describe the manipulator and its capabilities. The manipulator was accurately described by obtaining the link transformation matrices from each joint using the Denavit-Hartenberg (DH) notations. An Iterative Inverse Kinematics method (IIK) was used to find multiple configurations for the manipulator along a given path. The IIK method was based on the specific geometric characteristic of the manipulator, in which several joints share a common plane. To find admissible solutions along the path, the workspace of the manipulator was considered. Algebraic formulations to obtain the specific workspace of the 6-DOF manipulator on the Cartesian coordinate space were derived from the singular configurations of the manipulator. Local dexterity analysis was also required to identify possible orientations of the end-effector for specific Cartesian coordinate positions. The closed-form expressions for the range of such orientations were derived by adapting an existing dexterity method. Two methods were implemented to plan the free-collision path needed to move an object from one place to another without colliding with an obstacle. Via-points were added to avoid the robot mobile platform and the zones in which the manipulator presented motion difficulties. Finally, the segments located between initial, final, and via-points positions, were connected using straight lines forming a global path. To form the collision-free path, the straight-line were modified to avoid the obstacles that intersected the path. The effectiveness of the proposed analysis was verified by comparing simulation and experimental results. Three predefined paths were used to evaluate the IIK method. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of the entire path planning algorithm. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations with a 6-DOF manipulator.
      Degree
      Master of Science (M.Sc.)
      Department
      Mechanical Engineering
      Program
      Mechanical Engineering
      Supervisor
      Fotouhi, Reza
      Committee
      Schoenau, Greg J.; Wu, FangXiang; Chowdhury, Nurul
      Copyright Date
      December 2012
      URI
      http://hdl.handle.net/10388/ETD-2012-12-871
      Subject
      6-DOF manipulator
      Workspace of the manipulator
      Dexterity analysis
      Obstacle avoidance
      Pick-and-place operations
      Collections
      • Graduate Theses and Dissertations
      University of Saskatchewan

      University Library

      The University of Saskatchewan's main campus is situated on Treaty 6 Territory and the Homeland of the Métis.

      © University of Saskatchewan
      Contact Us | Disclaimer | Privacy