Modeling and Analysis of Puma Robot Using Mat Lab
D.Bhanuprakash1, A.Gopichand2, M.Padmalatha3, R.V.S.Lakshmi4, P.S.N.Raju5
1D.Bhanuprakash, Assoc. Prof, Mechanical Engineering, JNTU Kakin, Swarnandhra College of Engineering and Technology, Narsapur ,(A.P), India.
2A.Gopichand, Assoc. Prof, Mechanical Engineering, JNTU Kakinada, Swarnandhra College of Engineering and Technology, Narsapur, (A.P), India.
3M.Padmalatha, M. Tech, Mechanical Engineering, JNTU Kakinada, Swarnandhra College of Engineering and Technology, Narsapur ,(A.P), India.
4R.V.S.Lakshmi, Asst. Prof, Mechanical Engineering, JNTU Kakinada, Swarnandhra College of Engineering and Technology, Narsapur ,(A.P), India.
5P.S.N.Raju, Asst. Prof Mechanical Engineering, JNTU Kakinada, Swarnandhra College of Engineering and Technology, Narsapur ,(A.P), India.
Manuscript received on March 02, 2013. | Revised Manuscript received on April 13, 2013. | Manuscript published on April 30, 2013. | PP: 645-647 | Volume-2, Issue-4, April 2013. | Retrieval Number: D1550042413/2013©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The PUMA Programmable Universal Machine for Assembly, more popularly known as PUMA is an industrial robot arm. The main objective of this paper is determination of end effectors position for the modified Robot which is same as PUMA robot with different link twist angles using MATLAB. A Mat lab program is developed for different link angles with the help of robot tool kit developed by petercorke. Trajectory of the modified robot is also done using Mat lab. Forward kinematics values are compared with the mat lab values. Modeling of PUMA robot is also done using PRO-E soft ware.
Keywords: D-H notations, PUMA Robot, MAT LAB, Pro-E, Trajectory planning.