Browsing by Author "Pathirana, MGK"

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    item: Conference-Abstract
    Design and implementation of a robot hand for service purposes
    (Engineering Research Unit, Faculty of Engiennring, University of Moratuwa, 2016-04) Pathirana, MGK; Perara, KTK; Sirithunge, HPC; Srimal4, PHDAS; Jayasekara, AGBP; Jayasekara, AGBP; Amarasinghe, YWR
    The paper focuses on designing and implementation of an interactive robotic arm for pick and place and service applications. The robot is expected to have image processing and voice recognition capability. Therefore once an object is placed on the coordinate plane of the robot, it has the ability to detect the colour or shape of the body, calculate its coordinates and then lift the object. The manipulator moves the end effector to the final position using inverse kinematics calculation of each joint angle. The mechanical structure is simulated using forward kinematics and for this Denavit-Hartenberg parameter method is used for the proposed design and hence the mechanical structure is simulated in MATLAB and SolidWorks. Forward kinematics analysis is done through Robotics Toolbox and Matlab. Manipulator is implemented according these parameters chosen according to the design requirements and assessed the scope of the robot arm.
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    item: Conference-Full-text
    Design and simulation of a robotic arm for a service robot
    (Electrical Engineering Society (EESoc) of Department of Electrical Engineering, University of Moratuwa, 2015-12) Pathirana, MGK; Perera, KTK; Sirithunge, HPC; Srimal, PHDAS; Jayasekara, AGBP; Jayasekara, AGBP
    This paper focuses on designing and simulation of an interactive robotic arm for pick and place and service applications. The robot is expected to have image processing and voice recognition capability. The mechanical structure is simulated using forward kinematics and for this, Denavit-Hartenberg parameter method is used for the proposed design and hence the mechanical structure is simulated in MATLAB and SolidWorks. SolidWorks structure comprises the proposed link lengths and joints which were used for forward kinematics calculations and workspace simulations. Static and dynamic torques are taken into consideration to determine the torques of joint motors. It is expected to find the design requirements and assess the scope of the robot arm before its manipulation.
  • Thumbnail Image
    item: Conference-Abstract
    Design and simulation of a robotic arm for a service robot
    Pathirana, MGK; Perara, KTK; Sirithunge, HPC; Srima, PHDAS; Jayasekara, AGBP
    This paper focuses on designing and simulation of an interactive robotic arm for pick and place and service applications. The robot is expected to have image processing and voice recognition capability. The mechanical structure is simulated using forward kinematics and for this, Denavit-Hartenberg parameter method is used for the proposed design and hence the mechanical structure is simulated in MATLAB and SolidWorks. SolidWorks structure comprises the proposed link lengths and joints which were used for forward kinematics calculations and workspace simulations. Static and dynamic torques are taken into consideration to determine the torques of joint motors. It is expected to find the design requirements and assess the scope of the robot arm before its manipulation.