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Three-DOF manipulator kinematics and dynamics analysis and simulation
Alternative Title三自由度机械臂运动学与动力学分析及仿真
Shi, Heng(师恒); Liang, Yan-Bing(梁雁冰)
Department光电测量技术实验室
2014-10-28
Source PublicationShanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University
ISSN10062467
Volume48Issue:28-32
Contribution Rank1
Abstract

A 3-DOF manipulator is modeled in ADAMS. In MATLAB, inverse kinematics is solved by geometric method. The desired trajectory, angular velocity and angular acceleration of each joint are obtained by the high order polynomial interpolation to complete the kinematics planning of the manipulator. Kinematics equations were got by D-H method and dynamics equations were obtained by Lagrangian method according to angular variables, velocity and acceleration. In ADAMS, kinematics and dynamics simulation on the model are made respectively. Simulation results are consistent with theoretical calculations to verify the correctness of each other, which can provide an effective basis for the control of the manipulator and the selection of the appropriate drive system. ©, 2014, Shanghai Jiao Tong University. All right reserved.

 

Indexed ByEI
Language中文
Document Type期刊论文
Identifierhttp://ir.opt.ac.cn/handle/181661/30806
Collection光电测量技术实验室
Corresponding AuthorShi, Heng(师恒)
Affiliation中国科学院西安光学精密机械研究所
First Author Affilication中国科学院西安光学精密机械研究所
Corresponding Author Affilication中国科学院西安光学精密机械研究所
Recommended Citation
GB/T 7714
Shi, Heng,Liang, Yan-Bing. Three-DOF manipulator kinematics and dynamics analysis and simulation[J]. Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,2014,48(28-32).
APA Shi, Heng,&Liang, Yan-Bing.(2014).Three-DOF manipulator kinematics and dynamics analysis and simulation.Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,48(28-32).
MLA Shi, Heng,et al."Three-DOF manipulator kinematics and dynamics analysis and simulation".Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 48.28-32(2014).
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