Title :
Based on Adams/Matlab/Simulink two link manipulator dynamics simulation and verification
Author :
Jia Xuefeng ; Song Hongjun ; Rong Xuewen ; Li Yibin
Author_Institution :
Coll. of Mech. & Electron. Eng., Shandong Agric. Univ., Taian, China
Abstract :
Mechanical arm dynamics equation of mechanical arm in the research has very important function, in use must guarantee the correctness of the dynamic equation. Therefore, based on ADAMS software as the foundation, the design of a simplified 2 rod mechanical arm virtual prototype model to study the dynamics equation of validation. In the ADAMS model of dynamic simulation analysis, the mechanical arm for the joint rotation angle, angular velocity and angular acceleration and moment kinetic parameters, etc. According to the model is deduced Lagrange dynamics equation, through the formula to calculate the joint torque and using the ADAMS of measurement data to verify the correctness of the dynamic equation.
Keywords :
CAD; digital simulation; manipulator dynamics; mathematics computing; mechanical engineering computing; virtual prototyping; ADAMS software; Matlab; Simulink; angular acceleration; angular velocity; correctness verification; deduced Lagrange dynamics equation; dynamic equation; dynamic simulation analysis; joint rotation angle; mechanical arm dynamics equation; mechanical arm virtual prototype model; moment kinetic parameters; two link manipulator dynamics; Analytical models; Educational institutions; Equations; MATLAB; Manipulator dynamics; Mathematical model; ADAMS; Dynamics simulation; Lagrange; MATLAB/SIMULINK; Manipulator;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
