The 3D Arm Modeling and Position Control

We employ two approaches to model a 3D arm. In nonlinear, a parameter-dependent structure has been derived. Due to an existing inverse inertia term in the motion equation, a proof of nonsingular inertia is given. In linear, the Simmechanic Visual plot is obtained. By implementing a position control law, both of them can reach the same desired position. Introduction In this paper, a study of the constructing a model for a 3 degree of freedom (3D) arm is proposed. In which, our discussion is divided into two parts: one is to derive the equation of motion for 3D arm considered as a multi-body system. Another is to employ Solidwork/Simulink software to obtain a joint-mass plot which input force and sensor can be added for simulation. Although, the described approaches for modeling are different, they can be complementary to each other. As results, the equation motion of 3D arm is a parameter dependent and nonlinear system, which is complex and difficult to solve. As for the system from joint-mass plot is linear, which is intuitively and easily to implement to engineering application. The 3D arm has been wildly employed in the autonomous manufacture line. It is constituted of three long arms linked with joints along each end and each joint represents one degree of freedom. With this structure simple, flexible and controllable, it had been investigated by many researchers [1-6]. By utilizing all this developing techniques, the 3D arm becomes more sophisticated and reliable tools which had replaced some human tasks in a plant. Although there are some achievements in application of 3D arms have been made, a complete discussion of a nonlinear 3D arm model structure in literature is still rare [7-8]. The most reason is the complexity of constructing the equation of motion for a 3 degree of freedom arm. However, in order to fully understand the geometry limitation of 3D arm’s structure, it is still necessary to investigate the system from nonlinear model. The paper is organized as the following. In section 2, a detailed structure of 3D arm nonlinear model is presented. In section 3, a position control law is proposed with numerical simulation results. Section 4, the CAD/SIMMECHANIC plot is given. The same control law is implemented in simulation to validate the results. Our conclusion is presented in section 5. Figure.1 Picture of the 3D arms International Conference on Manufacturing Engineering and Intelligent Materials (ICMEIM 2017) Copyright © 2017, the Authors. Published by Atlantis Press. This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/). Advances in Engineering, volume 100