Dynamics of multibody systems: Cutting glass plates by a redundant robot with a tool head in diamond

Abstract

Since revolution industrial, a discipline marked a changing technological world, it is robotics. The advent of robots in the industry has helped alleviate human repetitive and difficult work, and this with greater efficiency and precision. Modeling is an important step in the field of robotics. There are several types: geometric, kinematic and dynamic. These models facilitate the design and the robot controller, optimize the planning of the trajectory, and save time and money To this end, the project is modeler a redundant robot SCARA type wearing a diamond tool head for cutting glass plates. The use of a redundant robot has offered a range of possible kinematic and dynamic configurations, who can gave the possibility of an optimization work to determine the configuration that requires less energy and allows the robot to do its work in the best conditions and in a reduced time.