Investigations into the parameters influencing the dynamic performance of 3-RRR planar & articulated robot manipulators

Abstract

The present paper attempts to systematically identify the significant factors influencing the dynamic performance of robot manipulators. Two 3-RRR robot configurations planar and articulated arms are considered here to study. The robots kinematic and dynamic models are symbolically formulated. A simulation program has been developed to measure the dynamic performance of the robot manipulators under different combinations of control and noise factors. A fractional factorial Design of Experiment (DoE) approach is utilized to identify the significant factors and their interactions on the performance of the manipulators while moving through different trajectories. The results are analyzed using Analysis of Variance (ANOVA) and critically discussed to illustrate the effect of various parameters involved which interact with each other in a complex manner. It is expected that the present study will be helpful in understanding the dynamic performance of 3-RRR manipulators under different conditions.