Dynamics analysis and simulation for manipulator with five degree of freedom

Author

Ding, Chengjun ; Jiao, Xinjing ; Duan, Ping ; Liu, Bingqing

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China

fYear

2010

Firstpage

5576

Lastpage

5581

Abstract

In this paper the five dof manipulator has been established based on the kinetic model of manipulator, through the UG, will be built on solid modeling entity model simplified through good introduction to the ADAMS software ADAMS, establish the virtual prototype of manipulator, the dynamic simulation of the joint Angle and joint torque, angular velocity and Angle acceleration curves, analyzed the end manipulator of each joint torque and speed of angular velocity and Angle acceleration. To improve the design performance and reduce cost, reduce product development time, and lays the foundation of robot control.

Keywords

manipulator dynamics; ADAMS software; angle acceleration curves; angular velocity; dynamic simulation; dynamics analysis; end manipulator; joint angle; joint torque; kinetic model; product development time; robot control; solid modeling entity model; virtual prototype; Acceleration; Analytical models; Design automation; Joints; Manipulator dynamics; Solid modeling; dynamics; mobile manipulator; simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554453

Filename

5554453