| Design and Simulation of a Laboratory 2D Cable Robot for Agricultural Applications |
| Paper ID : 1139-NICAME1402 |
| Authors: |
|
Hassan Masoudi *1, Ali Madadi Kahkesh2 1Department of Biosystems Engineering, Faculty of Agriculture, Shahid Chamran University of Ahvaz, Ahvaz, Khuzestan, Iran 2Department of Biosystems Engineering, Faculty of Agriculture, Shahid Chamran University of Ahvaz, Ahvaz, Iran. |
| Abstract: |
| The high adaptability of cable robots to complex environments has led to the entry of these types of robots into the agricultural sector in recent years. In this research, the simulation results of a laboratory two-dimensional cable robot that is being developed for agricultural applications are presented. The introduction of the designed cable robot, the direct and inverse kinematics of the cable robot and simulation of the robot movement in reaching a hypothetical point and traveling a specific path using PID controller are presented. Proteus software was used to simulate the electronic circuit of the robot and Simscape Multibody simulation environment of the MATLAB software was used to simulate the robot movement. Before the final evaluation, the controller used to control of robot was tuned in the MATLAB software environment so that the robot can show a suitable and acceptable performance in terms of control indicators. Time response graphs of the robot in reaching a hypothetical point and traveling a linear path have been determined and analyzed. |
| Keywords: |
| Parallel cable robot, Robot simulation, Kinematic equations, Proteus, Simulink. |
| Status : Paper Accepted (Poster Presentation) |
