Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach

Robotic arms are widely used in industry to complete tasks which is difficult to be performed by human being due to high repeatability or hazardous environment. However, due to the complexity and quality required by some applications where two arms are required, the human ability to perform those...

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Main Author:	Abdalla Imadeldin, Abdelrahim Mohamed
Format:	Thesis
Language:	English English English
Published:	2021
Subjects:	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
Online Access:	http://eprints.uthm.edu.my/6935/1/24p%20ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED.pdf http://eprints.uthm.edu.my/6935/2/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6935/3/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20WATERMARK.pdf
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id	my-uthm-ep.6935
record_format	uketd_dc
spelling	my-uthm-ep.69352022-04-17T07:02:12Z Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach 2021-02 Abdalla Imadeldin, Abdelrahim Mohamed TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Robotic arms are widely used in industry to complete tasks which is difficult to be performed by human being due to high repeatability or hazardous environment. However, due to the complexity and quality required by some applications where two arms are required, the human ability to perform those tasks sustains. This project presents a conceptual design and configuration analysis of 11 Degrees of Freedom (DOF) dual robotic arm using SOLIDWORKS and MATLAB. The analysis is via Devanit Hartenberg approach. The design is built to solve the current challenges faced by industry in term of workspace optimization and cost reduction with respect to the complexity of tasks performed by human labors in production assembly nowadays in industry due to the higher accuracy and better performance of human labor in term of speed which is required due to the nature of the tasks performed. The structural design is built using SOLIDWORKS and then the frame structure and configuration is performed using Robotics Toolbox (RTB) in MATLAB, followed by the analysis of the workspace and validation of efficiency. The analyzed results shown an improvement in term of performed tasks complexity and optimization in workspace required by 43.4% minimization in term of horizontal area, in addition to significant reduction in collision chances between arms. In general, the project provided a suitable replacement for two single robotic articulated arms in assembly line in industry. 2021-02 Thesis http://eprints.uthm.edu.my/6935/ http://eprints.uthm.edu.my/6935/1/24p%20ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED.pdf text en public http://eprints.uthm.edu.my/6935/2/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6935/3/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
spellingShingle	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General) Abdalla Imadeldin, Abdelrahim Mohamed Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
description	Robotic arms are widely used in industry to complete tasks which is difficult to be performed by human being due to high repeatability or hazardous environment. However, due to the complexity and quality required by some applications where two arms are required, the human ability to perform those tasks sustains. This project presents a conceptual design and configuration analysis of 11 Degrees of Freedom (DOF) dual robotic arm using SOLIDWORKS and MATLAB. The analysis is via Devanit Hartenberg approach. The design is built to solve the current challenges faced by industry in term of workspace optimization and cost reduction with respect to the complexity of tasks performed by human labors in production assembly nowadays in industry due to the higher accuracy and better performance of human labor in term of speed which is required due to the nature of the tasks performed. The structural design is built using SOLIDWORKS and then the frame structure and configuration is performed using Robotics Toolbox (RTB) in MATLAB, followed by the analysis of the workspace and validation of efficiency. The analyzed results shown an improvement in term of performed tasks complexity and optimization in workspace required by 43.4% minimization in term of horizontal area, in addition to significant reduction in collision chances between arms. In general, the project provided a suitable replacement for two single robotic articulated arms in assembly line in industry.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Abdalla Imadeldin, Abdelrahim Mohamed
author_facet	Abdalla Imadeldin, Abdelrahim Mohamed
author_sort	Abdalla Imadeldin, Abdelrahim Mohamed
title	Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
title_short	Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
title_full	Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
title_fullStr	Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
title_full_unstemmed	Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
title_sort	design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2021
url	http://eprints.uthm.edu.my/6935/1/24p%20ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED.pdf http://eprints.uthm.edu.my/6935/2/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6935/3/ABDALLA%20IMADELDIN%20ABDELRAHIM%20MOHAMED%20WATERMARK.pdf
_version_	1747831094573531136

Design and configuration analysis of dual robotic arm via denavit hartenberg parameters approach

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