Author : Ahmet Shala , Ramë Likaj and Mirlind Bruqi

Modeling, Analysis and Control of robotic systems commonly first requires Dynamical Modeling. In this paper are used Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler formulations for dynamic modeling of 3R (3 revolute joints) robot with 3 degree of freedom. Dynamical model is derived using Software Maple. Simulations are done using Matlab/Simulink for analysis of propulsion effect under gravity where Link 1 rotates with 1000 rpm, Link 2 can move free in vertical direction and Link 3 can rotates free around their rotation axle. Simulations results shows very good propulsion of proposed 3R robot. Results are verified-compared with constructed model of 3R robot using Working Model 3D Software.

Keywords: Modeling, Control, Kinematics, Dynamics, Robot, Propulsion.

Article published in International Journal of Current  Engineering  and Technology, Vol.3,No.3(Aug- 2013)