Abstract—The paper presents a software platform made with LabVIEWTM for the assisted research of the kinematic and dynamic behavior of industrial robots. The platform comprises a series of virtual instrumentation LabVIEWTM programs (subVI-s) with: the input data modules in the form of several clusters with the parameters of the trapezoidal velocity characteristics of each joint, the axes of movement and the type of each joints, the dimensions of each body, the graph associated to the robot’s structure, the incidence matrices bodies - joints and joints- bodies, as well as the control buttons for movement up or down with or without object in the end- effecter, some modules with 2D characteristics of positions, velocities, accelerations, forces and moments in each joints and also the 3D characteristics of them. The research of the current stage shows that such a complex platform like this was not realized, the current research being limited to the animation of motion trajectories, determining the characteristics of positions, velocities, accelerations, forces and moments without the possibility of changing all motion parameters and robot’s dimensions and without show how these parameters change the behavior. The paper studies the case of an articulated arm type robot, but the platform can be used for any type of robot with four degrees of freedom (DOF).
Index Terms—Assisted research, dynamics behavior, kinematics behavior, industrial robots, software platform.
A. Olaru and T. Dobrescu are with University Politehnica of Bucharezst, Romania, Romania (e-mail: aolaru_51@ymail.com, tibidobrescu@yahoo.com).
S. Olaru was with METRA Company, Bucharest, Romania (e-mail: serban1978@yahoo.com).
I. Mihai was with the Iumirobo Company, Leuval, Quebec, Canada (e-mail: mniculae@yahoo.com).
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Cite: Olaru A., Dobrescu T., Olaru S., and Mihai I., "Software Platform for the Assisted Research of the Kinematics and Dynamics of Industrial Robots," International Journal of Modeling and Optimization vol. 11, no. 4, pp. 94-100, 2021.
Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
