EML 4806

Modeling of Robots

Project 2
Kinematic Robot Design and Motion Programming

Joseph Coverston
Christopher Hayes
Giancarlo Lombardi

Professor: Sabri Tosunoglu

December 4, 2015

Ethics Statement and Signatures

The work submitted in this Project is solely prepared by a team consisting of Christopher Hayes,
Joseph Coverston, and Giancarlo Lombardi and it is original. Excerpts from others work have
been clearly identified, their work acknowledged within the text and listed in the list of references.
All of the engineering drawings, computer programs, formulations, design work, prototype
development and testing reported in this document are also original and prepared by the same team
of students.

Joseph Coverston

Christopher Hayes

Giancarlo Lombardi

Joseph Coverston

Christopher Hayes

Giancarlo Lombardi

Team Member

Team Leader

Team Member

Sabri Tosunoglu
Dr. Sabri Tosunoglu
Faculty

CONTENTS
1

PROBLEM STATEMENT .............................................................................................................................. 4

SERIAL ARM .............................................................................................................................................. 5

2.1
2.2

INVERSE KINEMATICS ................................................................................................................................ 6

3.1
3.2

SOLUTION ...........................................................................................................................................................9
END EFFECTOR TRAJECTORY ...................................................................................................................................9

ANIMATION .............................................................................................................................................10
5.1
5.2

SOLUTION ...........................................................................................................................................................7
JOINT TRAJECTORIES .............................................................................................................................................7

FORWARD KINEMATICS............................................................................................................................. 8
4.1
4.2

DESIGN ..............................................................................................................................................................5
PATH .................................................................................................................................................................6

SOLIDWORKS ASSEMBLY ......................................................................................................................................10

TRACED PATH ....................................................................................................................................................11

CONCLUSION ...........................................................................................................................................11

List of Figures
Figure 1: Serial Arm Configuration.................................................................................................. 5
Figure 2: Teammate Initials ............................................................................................................ 6
Figure 3: Joint Trajectories.............................................................................................................. 8
Figure 4: Forward Kinematics End Effector Trajectory .............................................................. 10
Figure 5: Solidworks Assembly ..................................................................................................... 11

List of Tables
Table 1: Robot Geometry ................................................................................................................ 5
Table 2: Inverse Kinematics Solutions ............................................................................................ 7
Table 3: Forward Kinematics Solutions........................................................................................... 9

1 PROBLEM STATEMENT
Serial manipulators are common industrial robots that are consturcted via series of links
joined by motor-actuated joints that extend from the base to the end effector. These serial arms
manipulate objects to place them in an arbitrary position and orientation within the workspace
of the robot.
The team was tasked with designing a serial arm with a prismatic joint followed by two
revolute joints (PRR serial arm). The workspace of the robot would be confined to a rectangular
area of dimensions 100mm x 400mm. The link lengths and robot geometry must be designed
such that the specified box remains within the robots workspace and the robot does not go into
a singular position.
Inverse kinematics analysis must then be performed on the serial arm design to obtain
the necessary joint commands to trace the desired path. The path is determined to be the initials
of the team members. Additionally, the trajectoy, or path traced, by each joint is desired.
To verify these results, forward kinematic analysis is performed using the inverse
kinematic data. The location and oriantation of al the joints should be identical to the original
user input for the analysis to be valid.
Finally, it is desired to have visual evidence of the mechanism working as intended. For
this, a Solidworks model is required with the specified link lengths and workspace area. An
animation of the serial arm must be performed showing the end effector passing through the
specified points.

2 SERIAL ARM
2.1 DESIGN
The desired robot geometry, consisting of a prismatic joint and two revolute joints, is
shown below. The bottom left corner of the figure is taken to be the origin.

Figure 1: Serial Arm Configuration

The link lengths and geometric constraints of the serial arm are shown in the following table.
Table 1: Robot Geometry
PRR Robot Info
a2
50 mm
a3
50 mm
3 = H
-90 deg
VH
50 mm/s
AH

0 mm/s^2

2.2 PATH
As stated before, the serial arm must trace the initials of all the team members. Provided
the workspace area, the proposed points for the serial arm to trace are plotted in the following
figure.

Figure 2: Teammate Initials

3 INVERSE KINEMATICS
Inverse kinematics analysis of a serial arm is performed to determine the position and
orientation of all the joints given the end effector position.

3.1 SOLUTION
Table 2: Inverse Kinematics Solutions
Initials Plot Points
Letter
J bottom

Point #

xH (mm) yH (mm)
1
15
80
2
75
80
3
45
80
4
45
42
5
41
28
6
30.5
17.8
7
15
17.8
8
108.1
80
9
93.1
80
10
82.5
69.3
11
75
56.4
12
75
41.4
13
82.5
28.4
14
93.1
17.8
15
108.1
17.8
16
181.1
80
17
166.1
80
18
155.5
69.4
19
148
56.4
20
148
41.4
21
155.5
28.4
22
166.1
17.8
23
181.1
17.8
24
193.4
26.4
25
193.4
41.4
26
166.1
41.4
27
208.4
80
28
208.4
17.8
29
248.4
17.8
30
314.43
80
31
299.43
80
32
288.83
69.3
33
281.33
56.4
34
281.33
41.4
35
288.83
28.4
36
299.43
17.8
37
314.43
17.8
38
334.4
80
39
334.4
17.8
40
334.4
48.9
41
364.4
48.9
42
364.4
17.8
43
364.4
80

Inverse Position

Distance

Velocity

s1 (mm) 2 (deg) 3 (deg) SHx (mm)

SHy(mm) SH (mm) VHx (mm/s) VHy (mm/s) Vs1 (mm/s)
0
-25 36.869898 -126.87
60
0
60
50
0
50
1.2
35 36.869898 -126.87
-30
0
30
-50
0
-50
1.8
5 36.869898 -126.87
0
-38
38
0
-50
-37.5
2.56 -4.355851 -9.206896 -80.7931
-4
-14 14.56022 -13.7360564 -48.0761974 -5.94347307
2.8512044 -3.899889 -26.10388 -63.8961
-10.5
-10.2 14.638647 -35.863969 -34.8392842 -18.7934534
3.1439773 -7.751274 -40.09074 -49.9093
-15.5
0
15.5
-50
0
-50
3.4539773 -23.25127 -40.09074 -49.9093
93.1
62.2 111.96629 41.5750135 27.7762174 18.1929377
5.6933031
68.1 36.869898 -126.87
-15
0
15
-50
0
-50
5.9933031
53.1 36.869898 -126.87
-10.6
-10.7 15.06154 -35.1889637 -35.5209351 -61.8296651
6.2945339 36.375061 22.705836 -112.706
-7.5
-12.9 14.921796 -25.1310229 -43.2253593 -43.2177554
6.5929699 25.411292 7.3540352 -97.354
0
-15
15
0
-50 -6.45308197
6.8929699 25.745153 -9.904124 -80.0959
7.5
-13 15.008331 24.98612267 -43.3092793 32.548014
7.1931365 37.40632 -25.59455 -64.4054
10.6
-10.6 14.990664 35.35533906 -35.3553391 52.2906462
7.4929498 54.848726 -40.09074 -49.9093
15
0
15
50
0
50
7.7929498 69.848726 -40.09074 -49.9093
73
62.2 95.90537 38.05834855 32.42779835 10.7605625
9.7110572
141.1 36.869898 -126.87
-15
0
15
-50
0
-50
10.011057
126.1 36.869898 -126.87
-10.6
-10.6 14.990664 -35.3553391 -35.3553391 -61.8718434
10.31087 109.41703 22.830111 -112.83
-7.5
-13 15.008331 -24.9861227 -43.3092793 -43.2184554
10.611037 98.411292 7.3540352 -97.354
0
-15
15
0
-50 -6.45308197
10.911037 98.745153 -9.904124 -80.0959
7.5
-13 15.008331 24.98612267 -43.3092793 32.548014
11.211204 110.40632 -25.59455 -64.4054
10.6
-10.6 14.990664 35.35533906 -35.3553391 52.2906462
11.511017 127.84873 -40.09074 -49.9093
15
0
15
50
0
50
11.811017 142.84873 -40.09074 -49.9093
12.3
8.6 15.008331 40.97724119
28.650754 16.8589787
12.111184 149.32007 -28.1642 -61.8358
0
15
15
0
50 -26.7695541
12.411184 144.14515 -9.904124 -80.0959
-27.3
0
27.3
-50
0
-50
12.957184 116.84515 -9.904124 -80.0959
42.3
38.6 57.264736 36.93372474 33.70311524 31.0490899
14.102478
168.4 36.869898 -126.87
0
-62.2
62.2
0
-50
-37.5
15.346478 170.14873 -40.09074 -49.9093
40
0
40
50
0
50
16.146478 210.14873 -40.09074 -49.9093
66.03
62.2 90.712738
36.395109 34.28404937 7.53472711
17.960733
274.43 36.869898 -126.87
-15
0
15
-50
0
-50
18.260733
259.43 36.869898 -126.87
-10.6
-10.7 15.06154 -35.1889637 -35.5209351 -61.8296651
18.561964 242.70506 22.705836 -112.706
-7.5
-12.9 14.921796 -25.1310229 -43.2253593 -43.2177554
18.8604 231.74129 7.3540352 -97.354
0
-15
15
0
-50 -6.45308197
19.1604 232.07515 -9.904124 -80.0959
7.5
-13 15.008331 24.98612267 -43.3092793 32.548014
19.460566 243.73632 -25.59455 -64.4054
10.6
-10.6 14.990664 35.35533906 -35.3553391 52.2906462
19.76038 261.17873 -40.09074 -49.9093
15
0
15
50
0
50
20.06038 276.17873 -40.09074 -49.9093
19.97
62.2 65.327183 15.28460201 47.60652205 -24.7906642
21.366923
294.4 36.869898 -126.87
0
-62.2
62.2
0
-50
-37.5
22.610923 296.14873 -40.09074 -49.9093
0
31.1
31.1
0
50 -42.0901008
23.232923 284.4121 -1.260609 -88.7394
30
0
30
50
0
50
23.832923 314.4121 -1.260609 -88.7394
0
-31.1
31.1
0
-50 1.1002663
24.454923 326.14873 -40.09074 -49.9093
0
62.2
62.2
0
50 -42.0901008
25.698923
324.4 36.869898 -126.87
-364.4
-80 373.07822 -48.8369433 -10.7216121 -56.8781524

time (s)

Acceleration
2 (rad/s)
0
0
-1.25
-0.974072915
-0.775932531
0
0.726151423
0
-0.888023378
-0.937136401
-1.008294058
-0.879289685
-0.784041995
0
0.847757331
0
-0.883883476
-0.939810966
-1.008294058
-0.879289685
-0.784041995
0
0.749014363
1.134303139
0
0.684259864
-1.25
0
0.896285152
0
-0.888023378
-0.937136401
-1.008294058
-0.879289685
-0.784041995
0
1.244573486
-1.25
1.307145988
0
-1.000242088
1.307145988
-0.268040304

3 (rad/s)
0
0
1.25
0.9740729
0.7759325
0
-0.7261514
0
0.8880234
0.9371364
1.0082941
0.8792897
0.784042
0
-0.8477573
0
0.8838835
0.939811
1.0082941
0.8792897
0.784042
0
-0.7490144
-1.1343031
0
-0.6842599
1.25
0
-0.8962852
0
0.8880234
0.9371364
1.0082941
0.8792897
0.784042
0
-1.2445735
1.25
-1.307146
0
1.0002421
-1.307146
0.2680403

As (mm/s2) 2 (rad/s2)
0
0
0
0
97.65625
1.171875
48.060059 -0.15379219
33.522984 -0.29500226
0
0
34.462635 -0.44387874
0
0
49.286595 0.59143914
47.600314 0.36747442
51.254456 0.13121141
39.242348 -0.13499368
34.080266 -0.2944535
0
0
46.9718 -0.60499679
0
0
48.828125
0.5859375
47.916002 0.37182818
51.254456 0.13121141
39.242348 -0.13499368
34.080266 -0.2944535
0
0
36.666917 -0.47226989
72.972194 -0.68885751
0
0
23.764745 -0.08175072
97.65625
1.171875
0
0
52.503288 -0.67624235
0
0
49.286595 0.59143914
47.600314 0.36747442
51.254456 0.13121141
39.242348 -0.13499368
34.080266 -0.2944535
0
0
101.23605 -1.30392031
97.65625
1.171875
111.67148 -1.43832871
0
0
50.036322 -0.02201598
111.67148 -1.43832871
4.4903503
0.0538842

3 (rad/s2)
0
0
-1.171875
0.15379219
0.29500226
0
0.44387874
0
-0.5914391
-0.3674744
-0.1312114
0.13499368
0.2944535
0
0.60499679
0
-0.5859375
-0.3718282
-0.1312114
0.13499368
0.2944535
0
0.47226989
0.68885751
0
0.08175072
-1.171875
0
0.67624235
0
-0.5914391
-0.3674744
-0.1312114
0.13499368
0.2944535
0
1.30392031
-1.171875
1.43832871
0
0.02201598
1.43832871
-0.0538842

3.2 JOINT TRAJECTORIES

The trajectories of all the joints are shown in the following figure. It can be seen that joint
2 and 3 (end effector) are only vertically displaced. This is a result of the user inputted value
where the end effector is specified to have a phi angle of 90 degrees.

Figure 3: Joint Trajectories

4 FORWARD KINEMATICS
Given the joint positions and orientations, forward kinematics analysis seeks to
determine the location of the end effector.

4.1 SOLUTION
Table 3: Forward Kinematics Solutions
Initials Plot Points
Letter
J bottom

Point #

Data From Inverse

2 (deg) 3 (deg)
-25 36.869898 -126.87
35 36.869898 -126.87
5 36.869898 -126.87
-4.355851 -9.206896 -80.7931
-3.899889 -26.10388 -63.8961
-7.751274 -40.09074 -49.9093
-23.25127 -40.09074 -49.9093
68.1 36.869898 -126.87
53.1 36.869898 -126.87
36.375061 22.705836 -112.706
25.411292 7.3540352 -97.354
25.745153 -9.904124 -80.0959
37.40632 -25.59455 -64.4054
54.848726 -40.09074 -49.9093
69.848726 -40.09074 -49.9093
141.1 36.869898 -126.87
126.1 36.869898 -126.87
109.41703 22.830111 -112.83
98.411292 7.3540352 -97.354
98.745153 -9.904124 -80.0959
110.40632 -25.59455 -64.4054
127.84873 -40.09074 -49.9093
142.84873 -40.09074 -49.9093
149.32007 -28.1642 -61.8358
144.14515 -9.904124 -80.0959
116.84515 -9.904124 -80.0959
168.4 36.869898 -126.87
170.14873 -40.09074 -49.9093
210.14873 -40.09074 -49.9093
274.43 36.869898 -126.87
259.43 36.869898 -126.87
242.70506 22.705836 -112.706
231.74129 7.3540352 -97.354
232.07515 -9.904124 -80.0959
243.73632 -25.59455 -64.4054
261.17873 -40.09074 -49.9093
276.17873 -40.09074 -49.9093
294.4 36.869898 -126.87
296.14873 -40.09074 -49.9093
284.4121 -1.260609 -88.7394
314.4121 -1.260609 -88.7394
326.14873 -40.09074 -49.9093
324.4 36.869898 -126.87

s1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43

Vs1 (mm/s)2 (rad/s)

50
0
-50
0
-37.5
-1.25
-5.94347 -0.97407
-18.7935 -0.77593
-50
0
18.19294 0.726151
-50
0
-61.8297 -0.88802
-43.2178 -0.93714
-6.45308 -1.00829
32.54801 -0.87929
52.29065 -0.78404
50
0
10.76056 0.847757
-50
0
-61.8718 -0.88388
-43.2185 -0.93981
-6.45308 -1.00829
32.54801 -0.87929
52.29065 -0.78404
50
0
16.85898 0.749014
-26.7696 1.134303
-50
0
31.04909 0.68426
-37.5
-1.25
50
0
7.534727 0.896285
-50
0
-61.8297 -0.88802
-43.2178 -0.93714
-6.45308 -1.00829
32.54801 -0.87929
52.29065 -0.78404
50
0
-24.7907 1.244573
-37.5
-1.25
-42.0901 1.307146
50
0
1.100266 -1.00024
-42.0901 1.307146
-56.8782 -0.26804

Position

3 (rad/s) As (mm/s2)
2 (rad/s2) 3 (rad/s2) xH (mm)
yH (mm)
0
0
0
0
15
0
0
0
0
75
1.25
97.65625 1.171875 -1.17188
45
0.974073 48.06005924 -0.15379 0.153792
45
0.775933 33.52298358
-0.295 0.295002
41
0
0
0
0
30.5
-0.72615 34.46263529 -0.44388 0.443879
15
0
0
0
0
108.1
0.888023 49.28659494 0.591439 -0.59144
93.1
0.937136 47.60031405 0.367474 -0.36747
82.5
1.008294 51.25445589 0.131211 -0.13121
75
0.87929 39.24234817 -0.13499 0.134994
75
0.784042 34.08026618 -0.29445 0.294453
82.5
0
0
0
0
93.1
-0.84776 46.97180036
-0.605 0.604997
108.1
0
0
0
0
181.1
0.883883
48.828125 0.585938 -0.58594
166.1
0.939811 47.91600228 0.371828 -0.37183
155.5
1.008294 51.25445589 0.131211 -0.13121
148
0.87929 39.24234817 -0.13499 0.134994
148
0.784042 34.08026618 -0.29445 0.294453
155.5
0
0
0
0
166.1
-0.74901 36.66691657 -0.47227 0.47227
181.1
-1.1343 72.97219425 -0.68886 0.688858
193.4
0
0
0
0
193.4
-0.68426 23.76474528 -0.08175 0.081751
166.1
1.25
97.65625 1.171875 -1.17188
208.4
0
0
0
0
208.4
-0.89629 52.50328808 -0.67624 0.676242
248.4
0
0
0
0
314.43
0.888023 49.28659494 0.591439 -0.59144
299.43
0.937136 47.60031405 0.367474 -0.36747
288.83
1.008294 51.25445589 0.131211 -0.13121
281.33
0.87929 39.24234817 -0.13499 0.134994
281.33
0.784042 34.08026618 -0.29445 0.294453
288.83
0
0
0
0
299.43
-1.24457 101.2360492 -1.30392 1.30392
314.43
1.25
97.65625 1.171875 -1.17188
334.4
-1.30715
111.671484 -1.43833 1.438329
334.4
0
0
0
0
334.4
1.000242 50.03632197 -0.02202 0.022016
364.4
-1.30715
111.671484 -1.43833 1.438329
364.4
0.26804 4.490350273 0.053884 -0.05388
364.4

Velocity
VHx (mm/s)
80
50
80
-50
80
0
42 -13.7360564
28 -35.863969
17.8
-50
17.8 41.5750135
80
-50
80 -35.1889637
69.3 -25.1310229
56.4
0
41.4 24.9861227
28.4 35.3553391
17.8
50
17.8 38.0583485
80
-50
80 -35.3553391
69.4 -24.9861227
56.4
0
41.4 24.9861227
28.4 35.3553391
17.8
50
17.8 40.9772412
26.4
0
41.4
-50
41.4 36.9337247
80
0
17.8
50
17.8 36.395109
80
-50
80 -35.1889637
69.3 -25.1310229
56.4
0
41.4 24.9861227
28.4 35.3553391
17.8
50
17.8 15.284602
80
0
17.8
0
48.9
50
48.9
0
17.8
0
80 -48.8369433

VHy (mm/s)
0
0
-50
-48.07619738
-34.83928421
0
27.7762174
0
-35.5209351
-43.22535933
-50
-43.3092793
-35.35533906
0
32.42779835
0
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28.650754
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33.70311524
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4.2 END EFFECTOR TRAJECTORY

The path traced by the end effector, given the inputs of all the joint from the inverse
kinematic analysis, show that the end effector does indeed pass through all the points specified.
Thus, the design of the serial arm is verified.

Figure 4: Forward Kinematics End Effector Trajectory

5 ANIMATION
5.1 SOLIDWORKS ASSEMBLY
The team produced a Solidworks assembly of the serial arm. This arm reflects a potential
application as a desktop writing machine. As such, the figure reflects the teams proposed
application for the serial arm.

Figure 5: Solidworks Assembly

5.2 TRACED PATH

The animation of the assembly is provided in conjunction with this report where the serial
arm is allowed to follow the path indicated. As can be seen, the serial arm is fully capable of
reaching the points and spell out the team members initials.

6 CONCLUSION
Serial arms are useful for affecting the world around us autonomously. Through the use
of serial arms, great advances in automation and manufacturing have been made. Though the
capabilities of the serial arm designed by the team are limited, the team realizes that greater
capabilities can be achieved by increasing the complexity of the serial arm. This can be done by
increasing the link lengths (increasing the workspace area) or adding additional joints (increasing
the degrees of freedom of the serial arm).