Modeling and Simulation of a

Camera-man Robot

Project Outline

• Conceptualization • Solid Modeling using Solidworks 2012 • Assembly Sequencing Using Autodesk

Publisher 2013 • Model Simulation using Matlab R2012

Conceptualization

• 6-axes Robotic Arm • Camera Device on End Effector • Can Replace A Human Photographer • Equals Human Working Capability

(Structure)

Conceptualization

• Elimination of Human Efforts • High Stability During Picture

Taking/Recording • High Quality of Work • Equals Human Working Capability

(Purpose)

Solid Modeling (Components)

Solid Modeling (Assembly Sequencing)

Solid Modeling

• Incorrect Reference for Assembly • Subsequent Locking of a movement

axis

(Difficulties)

Solid Modeling

Reference: Base (No!)

Reference: Base Holder (That’s the Way!)

(Modifications)

Simulation

• Convert .Sldasm to .xml • Import .xml to .mdl • Modify using Simmechanics blocks • Simulation Environment • Final Simulation

(Algorithm)

Simulation (Initial Simulink Model)

Simulation (Difficulties)

• Self-Creation of Weld Joints

Simulation (Modifications)

• Elimination of Inactive joints • Introducing Revolute joint • Sine Wave Input • Transport Delay’s

Simulation (Final Simulink Model)

Simulation (Features)

• Transport Delay = 15sec for each joint • Each axis gets activated after 15sec • Sine wave input • Hence, Oscillatory motion

Simulation (Final Simulation)

Thank you!