e-journal

Implementation and Assessment of a Virtual Laboratory of Parallel Robots Developed for Engineering Students

---

This paper presents a tool, LABEL, oriented to the teaching of parallel robotics. The application, organized as a set of tools developed using Easy Java Simulations, enables the study of the kinematics of parallel robotics. A set of classical parallel structures was implemented such that LABEL can solve the inverse and direct kinematic problem of 5R, 3RRR, and Delta robots. An intuitive graphical user interface lets the student change the joint coordinates or Cartesian coordinates of the end effector while observing
a graphical representation of the robot. In addition, a set of five practical sessions based upon this tool was developed. During the practical sessions, the student analyzes the inverse kinematics of parallel structures and the direct kinematic problem. Moreover, LABEL makes it easy to analyze the singularities that appear in the solution of the inverse and direct kinematic problem. These singularities are analyzed through the use of a path planning application, which allows the user to plan a trajectory in the robot’s workspace. This helps the student to analyze the position and velocity
of the end effector while observing the joint trajectories and speeds of the actuators. LABEL was implemented during the academic year 2011–2012 and has been well accepted. Finally, an assessment
of LABEL is presented.
Index Terms—Education, parallel robots, robot kinematics, simulation, software tools, virtual laboratories.

---

Ketersediaan

Tidak ada salinan data

Informasi Detail

Judul Seri

IEEE TRANSACTIONS ON EDUCATION

No. Panggil

-

Penerbit

New York : IEEE., 2014

Deskripsi Fisik

IEEE TRANSACTIONS ON EDUCATION, VOL. 57, NO. 2, MAY 2014

Bahasa

English

ISBN/ISSN

0018-9359

Klasifikasi

-

Tipe Isi

-

Tipe Media

-

Tipe Pembawa

-

Edisi

VOL. 57, NO. 2, MAY 2014

Subjek

TEKNIK

Info Detail Spesifik

-

Pernyataan Tanggungjawab

Yuli/Agus

Versi lain/terkait

Lampiran Berkas

Komentar

---

Anda harus masuk sebelum memberikan komentar