Gantry Robotic Manipulator Model simulation using MATLAB

Abstract—

MATLABSolutions demonstrate In this task we are going to design This paper presents an initial mathematical modeling and dynamic simulation of gantry robot for the application of printing circuit on board. The classical modeling methods such as Newton-Euler, Kirchoff’s law and Lagrangian fails to unify both electrical and mechanical system models. Here, bond graph approach with robust trajectory planning which uses a blend of quadratic equations on triangular velocity profile is modeled in order to virtually simulate it. In this paper, the algebric mathematical models are developed using Matlab software.

INTRODUCTION

A gantry robotic manipulator, often referred to simply as a gantry robot, is a type of robotic system that utilizes a gantry structure to perform precise and controlled movements in various applications.

Gantry Structure : The gantry typically consists of a horizontal beam supported by vertical columns or legs. This design provides stability and allows for movement along multiple axes, such as X, Y, and Z.

Robotic Arm : Mounted on the gantry structure, the robotic arm consists of joints and links that enable movement and manipulation of objects. The arm may have different end effectors, such as grippers, tools, or sensors, depending on the specific application.

Actuators and Motors : Actuators, such as electric motors or pneumatic cylinders, provide the necessary power to drive the movement of the gantry and robotic arm. These actuators work together with precision control systems to achieve accurate positioning and motion control.

Control System : The control system includes hardware and software components that govern the operation of the gantry robot. It may incorporate sensors for feedback, motion controllers for trajectory planning, and programming interfaces for defining tasks and sequences.

Applications : Gantry robots are used in a wide range of industrial and manufacturing processes where precise and repetitive tasks are required. Common applications include pick-and-place operations, assembly, packaging, material handling, and machining.

Advantages : Gantry robots offer several advantages, including high precision, repeatability, and flexibility in handling various workpieces or products. Their modular design allows for customization and adaptation to specific production requirements.

Integration : Gantry robots can be integrated into automated production lines or work cells, where they collaborate with other machines and equipment to optimize workflow efficiency and productivity.