Simulation And Study On Puma Robot Configuration With Workspace

Mohd Aizat , Ahmad Tarmizi (2007) Simulation And Study On Puma Robot Configuration With Workspace. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Programmable Universal Machine for Assembly (PUMA) Robot study is one of the robotics fields stems and the robot itself is categorized in industrial robot types. PUMA Robot is widely used in industrial field, especially in manufacturing field; and also usually appeared in universities research laboratories. In this project, a mathematical approach is applied towards designing a PUMA Robot configuration. The Denavit-Hartenberg algorithm and Arm Parameters must be determined to create and simulate PUMA robot by using Workspace software. ln studying the configuration of the PUMA Robot, Forward Kinematics Solution is calculated to obtain the internal computation in Workspace database about the position and orientation of the robot In designing a robot for industrial application, it is important to know the workspace volume of the robot and how the robot would moves during the process happened. This case can be observed by simulating the robot configuration and movement. Therefore, Workspace 5.04 Software is being used to designing and simulating the robot. A study of PUMA Robot configuration and Workspace is related and essential to achieve the aims and objectives of this project.

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