Publicação
Modeling and simulation of a Pick&Place system with OpenModelica
| Resumo: | Modeling of multi-physical systems is a task that may be particularly complex, especially when the systems under analysis present several technologies such as pneumatics, hydraulics, mechanical systems, electrical systems, among others. This MSc dissertation intends to present an approach for modelling a multi-physics system, using Modelica modeling language, focusing the connection of models, by using programming logic as ever as needed, as well as the obtaining of some guidelines for modelling multi physical systems in a systematic way. For the mentioned purpose, it is chosen, as basis for starting studies, a Pick&Place system using the modeling language Modelica and the simulation software OpenModelica whose conception was based on a manipulator’s model existing in the main library of OpenModelica software. Based in the initial case study, some approaches are presented for illustration about how to achieve the above-mentioned purpose, by changing and adding information, from initial considered models, to the considered final ones using simulation techniques and interpreting respective obtained results. Throughout this work, the potentialities presented by the language are explored, bringing together the concept of a robotic manipulator inserted in Modelica's main library with the outline of a detailed control, in which the concepts of inverse kinematics and pick&place are inserted. The incorporation with a global system is also scrutinized, in which the manipulator model is associated with a gripper and conveyor belts, designed in a system with logical sequencing. |
|---|---|
| Autores principais: | Monteiro, Alberto José Cibrão |
| Assunto: | Inverse Kinematics Modelica Modeling multi-physics systems OpenModelica Pick&Place Cinemática inversa Modelação de sistemas multifísicos |
| Ano: | 2023 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | Modeling of multi-physical systems is a task that may be particularly complex, especially when the systems under analysis present several technologies such as pneumatics, hydraulics, mechanical systems, electrical systems, among others. This MSc dissertation intends to present an approach for modelling a multi-physics system, using Modelica modeling language, focusing the connection of models, by using programming logic as ever as needed, as well as the obtaining of some guidelines for modelling multi physical systems in a systematic way. For the mentioned purpose, it is chosen, as basis for starting studies, a Pick&Place system using the modeling language Modelica and the simulation software OpenModelica whose conception was based on a manipulator’s model existing in the main library of OpenModelica software. Based in the initial case study, some approaches are presented for illustration about how to achieve the above-mentioned purpose, by changing and adding information, from initial considered models, to the considered final ones using simulation techniques and interpreting respective obtained results. Throughout this work, the potentialities presented by the language are explored, bringing together the concept of a robotic manipulator inserted in Modelica's main library with the outline of a detailed control, in which the concepts of inverse kinematics and pick&place are inserted. The incorporation with a global system is also scrutinized, in which the manipulator model is associated with a gripper and conveyor belts, designed in a system with logical sequencing. |
|---|