| Issue |
MATEC Web Conf.
Volume 406, 2024
2024 RAPDASA-RobMech-PRASA-AMI Conference: Unlocking Advanced Manufacturing - The 25th Annual International RAPDASA Conference, joined by RobMech, PRASA and AMI, hosted by Stellenbosch University and Nelson Mandela University
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|---|---|---|
| Article Number | 04014 | |
| Number of page(s) | 10 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202440604014 | |
| Published online | 09 December 2024 | |
uArm Swift simulation and control
* Department of Mechanical Engineering, University of Cape Town, South Africa
* Corresponding author: schdam003@myuct.ac.za
This paper investigates the development of a kinematic solution and simulated model of the uArm Swift Pro, a vertically articulated robot with three degrees of freedom. This robotic manipulator is specifically designed for recreational purposes and thus can be used as an educational tool for engineering students. A mathematical solution was developed which showcases how the robot moves and orientates itself when given desired output configurations. Furthermore, this analytical solution was implemented in Simulink to visually demonstrate the effects of changing parameters such as the joint angles of the uArm. Once complete, this model was tested with the physical manipulator to determine its accuracy and establish the legitimacy of using the simulation to demonstrate key concepts in robotics, such as forward and inverse kinematics. The testing illustrated that the proposed simulation was precise and a viable method to showcase the operation of this robot.
© The Authors, published by EDP Sciences, 2024
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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