{"title":"基于纳米粘土的冗余SCARA机器人关节动力学特性研究","authors":"M. Mohan, V. Anbumalar, P. Kumar","doi":"10.37896/pd91.4/9148","DOIUrl":null,"url":null,"abstract":". In recent years, for robot structural design, the conventional materials are replaced by alternative nanocomposite materials for its enhanced properties. This paper describes the impact of Nanoclay reinforced AA 5083 as a novel material replacement for the design of redundant SCARA (RSCARA) robot by varying the composition of Nanoclay in weight percentage (0, 1 and 2 wt%). The RSCARA parts are modelled by three dimensional (3D) computer aided design (CAD) modeling Solid Works package by imparting the material properties of newly developed nanocomposites. The model developed was exported to MATLAB/ Simscape Multibody Simulation environment and converted into multibody electromechanical system blocks. The required Input/output primitives are consigned for the joint blocks and the dynamic parameter torque was derived by the Simscape Multibody simulation. The results of the simulation regarding the dynamic performance obtained for RSCARA solid and round hole perforated manipulator main arm and fore arm links assigned with Nanoclay reinforced AA 5083 material is expressed in this research work.","PeriodicalId":20006,"journal":{"name":"Periodico Di Mineralogia","volume":"113 1","pages":""},"PeriodicalIF":1.2000,"publicationDate":"2022-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Investigation on Joint dynamic property of Nanoclay based Redundant SCARA robot\",\"authors\":\"M. Mohan, V. Anbumalar, P. Kumar\",\"doi\":\"10.37896/pd91.4/9148\",\"DOIUrl\":null,\"url\":null,\"abstract\":\". In recent years, for robot structural design, the conventional materials are replaced by alternative nanocomposite materials for its enhanced properties. This paper describes the impact of Nanoclay reinforced AA 5083 as a novel material replacement for the design of redundant SCARA (RSCARA) robot by varying the composition of Nanoclay in weight percentage (0, 1 and 2 wt%). The RSCARA parts are modelled by three dimensional (3D) computer aided design (CAD) modeling Solid Works package by imparting the material properties of newly developed nanocomposites. The model developed was exported to MATLAB/ Simscape Multibody Simulation environment and converted into multibody electromechanical system blocks. The required Input/output primitives are consigned for the joint blocks and the dynamic parameter torque was derived by the Simscape Multibody simulation. The results of the simulation regarding the dynamic performance obtained for RSCARA solid and round hole perforated manipulator main arm and fore arm links assigned with Nanoclay reinforced AA 5083 material is expressed in this research work.\",\"PeriodicalId\":20006,\"journal\":{\"name\":\"Periodico Di Mineralogia\",\"volume\":\"113 1\",\"pages\":\"\"},\"PeriodicalIF\":1.2000,\"publicationDate\":\"2022-04-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Periodico Di Mineralogia\",\"FirstCategoryId\":\"89\",\"ListUrlMain\":\"https://doi.org/10.37896/pd91.4/9148\",\"RegionNum\":4,\"RegionCategory\":\"地球科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"GEOCHEMISTRY & GEOPHYSICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Periodico Di Mineralogia","FirstCategoryId":"89","ListUrlMain":"https://doi.org/10.37896/pd91.4/9148","RegionNum":4,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"GEOCHEMISTRY & GEOPHYSICS","Score":null,"Total":0}
Investigation on Joint dynamic property of Nanoclay based Redundant SCARA robot
. In recent years, for robot structural design, the conventional materials are replaced by alternative nanocomposite materials for its enhanced properties. This paper describes the impact of Nanoclay reinforced AA 5083 as a novel material replacement for the design of redundant SCARA (RSCARA) robot by varying the composition of Nanoclay in weight percentage (0, 1 and 2 wt%). The RSCARA parts are modelled by three dimensional (3D) computer aided design (CAD) modeling Solid Works package by imparting the material properties of newly developed nanocomposites. The model developed was exported to MATLAB/ Simscape Multibody Simulation environment and converted into multibody electromechanical system blocks. The required Input/output primitives are consigned for the joint blocks and the dynamic parameter torque was derived by the Simscape Multibody simulation. The results of the simulation regarding the dynamic performance obtained for RSCARA solid and round hole perforated manipulator main arm and fore arm links assigned with Nanoclay reinforced AA 5083 material is expressed in this research work.
期刊介绍：
Periodico di Mineralogia is an international peer-reviewed Open Access journal publishing Research Articles, Letters and Reviews in Mineralogy, Crystallography, Geochemistry, Ore Deposits, Petrology, Volcanology and applied topics on Environment, Archaeometry and Cultural Heritage. The journal aims at encouraging scientists to publish their experimental and theoretical results in as much detail as possible. Accordingly, there is no restriction on article length. Additional data may be hosted on the web sites as Supplementary Information. The journal does not have article submission and processing charges. Colour is free of charges both on line and printed and no Open Access fees are requested. Short publication time is assured.
Periodico di Mineralogia is property of Sapienza Università di Roma and is published, both online and printed, three times a year.
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