Configuring a virtual prototype of a BiSCARA robot

U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju.The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment