AE483 - Introduction to Robotics

Practice Session 3 - MTAB ARISTO Manipulator

Angshuman Bhardwaj
SC14B003
VIIth Semester
B Tech, Aerospace Engineering
September 2, 2017

Description of the MTAB ARISTO Manipulator

The MTAB ARISTO Manipulator is a 6-axis serial chain robot. It is a kind of
regional mechanism that moves the end affector through a wide range of posi-
tions and orientation within its 3-dimensional workspace. Here the end affector
is a two jaw gripper with a prismatic joint.

All the axes of the manipulator consists of revolute joints. However, joint
2 and joint 3 are special in that they are not directly actuated but are instead
controlled by a linear actuator. This helps localise the motors at least for the
first 3 joints near the base of the robot, which helps in maintenance as well as
in reducing inertia in the arm movement. The MTAB ARISTO manipulator is
as shown in fig 1.

Modeling in MSC ADAMS

Based on the specification of the MTAB ARISTO Robot given in the user man-
ual, an ADAMS model is made. At this stage, only the basic kinematics of the
robot has been modeled.

Figure 2 shows the front view of the model with appropriate labels.

Figure 4 shows the right hand side view of the robot wireframe.

Figure 4 shows the isometric view of the robot.

Figure 5 shows the robot in various stages of its demonstration motion, with
sample motions given to all the joints simultaneously.

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 Figure 1: MTAB ARISTO 6-axis Manipulator

Figure 2: Front View of the MTAB MINI Robot with labels

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Figure 3: Right Hand Side View of the Robot Wireframs

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 Figure 4: Isometric View of the Robot

Figures 6 and 7 show the position and velocity of the COM of the end af-
fector for this demonstration, with sample motions. For a real run case, these
graphs contain crucial information that need to be taken of when the robot is
made part of a bigger system.

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 (a) (b)

(c) (d)

(e)

Figure 5: Simultaneous motion of all joints - demonstration

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Figure 6: Position of COM of the End Affector

Figure 7: Velocity of COM of the End Affector

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Future Work on the Model
• Accounting for the limitations in movement of the joints.
• Making links with proper shape, size and mass.

• Simulating the model with appropriate motions.

Attachments with the Report

The ADAMS model is attached with the report by the name -
”SC14B003 MTAB ARISTO MANIPULATOR.txt”. To run it, the ex-
tension of the file will need to be changed to ”.cmd” instead of ”.txt”. It can
then be imported in MSC ADAMS 2015 or higher.