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EEE421 LAB 1 Practical

This document provides instructions for designing a 2 degree-of-freedom (DOF) planar manipulator in VREP. It lists the group members and question, then provides an introduction describing the manipulator as having 2 links connected by 2 revolute joints. It lists requirements and step-by-step instructions for adding the base, joints, links, and a script to simulate joint motion. Results show the manipulator before and during simulation, and the conclusion states the manipulator was successfully simulated.

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tawanda
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151 views4 pages

EEE421 LAB 1 Practical

This document provides instructions for designing a 2 degree-of-freedom (DOF) planar manipulator in VREP. It lists the group members and question, then provides an introduction describing the manipulator as having 2 links connected by 2 revolute joints. It lists requirements and step-by-step instructions for adding the base, joints, links, and a script to simulate joint motion. Results show the manipulator before and during simulation, and the conclusion states the manipulator was successfully simulated.

Uploaded by

tawanda
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

EEE421 LAB 1 EXERCISE

GROUP MEMBERS

Tawanda R Munyanyi : H180163Z

Tino Mdhra : H180690F

Nyaradzai Mapfumo : H180488Y

QUESTION

Design a 2 D.O.F (RR) planar manipulator using VREP. [20]

INTRODUCTION

A 2 D.0.F planar manipulator, is made up of 2 links namely: base, link_1, link_2 ,where two

revolute joints are connected in between links. The dynamic properties of each link were

modified by selecting each link in model V-rep hierarchy tree.


REQUIREMENTS

 Computer

 [Link] / Vrep Software

INSTRUCTIONS

 Open Vrep
 Add base using a primitive shape(cuboid) at position x = 0.0, y = 0.0 and z = 0.75
 Add revolute joint at position: x = 0.05, y = 0.0 and z = 1.5.
 Add link1 at position x = 0.075, y =0.225 and z = 1.5
 Copy the revolute joint which will copy both the joint and the first link
 Move it to the end of the first link forming a two-link manipulator.
 Remove the dynamic properties of the two links, then change the revolute joint
properties to force\torque mode and make them motor actuated
 Add a non-threaded child script to the base
 Specify the joint velocity in the child script
 Simulate

RESULTS AND DISCUSSION

Below is a 2 D.O.F manipulator in [Link] before simulation.


Diagram below is the 2D.O.F planar manipulator during simulation

CONCLUSION
Dynamic properties of the links were constantly changed until the manipulator planar built
was simulated as expected. Thus the practical was a success.

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