Kinematic Modelling, Workspace Analysis and Static Structural Analysis of a 3 DoF Manipulator for an Elevator Automation

摘要

Manipulators are used extensively in industrial and service sectors due to their capability to carry out a task effectively. This paper presents a kinematic modelling, a workspace analysis, a static structural analysis and a simulation study of a simple 3 degrees-of-freedom (DoF) Cartesian manipulator developed for pressing buttons of an elevator. Denavit-Hartenberg approach was used for determining kinematic equations, which allowed constructing a manipulator workspace. A static structural analysis in ABAQUS determined stresses and deformations acting at manipulator links. The dimensions and material for fabricating the manipulator were selected using static structural analysis. Simulations with virtual human models from LIRS-HMLG library were carried out in Gazebo to study motion capabilities and range of the manipulator, and evaluate its performance in a human-robot interaction scenario.