Modeling and simulation of a loader and unloader manipulator

Industrial production workshops in all fields are becoming more and more robotized. Flexible workshops have several types of robots, namely mobile robots that move products from one machine to another, flexible cells are loaded and unloaded by robot manipulators. In this work we will discuss the design of a serial robot with six degrees of freedom. Three degrees of freedom to position the effector and three others to guide the wrist. In this context the manipulator arm must load and unload a CNC milling machine ‘TORMACH PCNC 440’ which is installed in our lab. The dimensions of the robot are adapted to the size of the machine, these organs are sized by another research team. In what follows we will discuss the different models allowing us the control of the manipulator. We start with the geometric model, the kinematic model and the static model. The goal is to enslave the arm in position and velocity. Several simulations have been carried out to validate this part of our study. Homogeneous transformation and modified DENAVIT-HARTENBURG (DH) parameters are adopted in this approach.