A Generalized Newton-Euler Algorithm for Dynamic Simulation of Robot-Manipulators with Revolute Joints
Journal Title: RECENT - Year 2013, Vol 14, Issue 38
Abstract
This article describes a procedure used to compose a set of second order differential equations in order to simulate dynamics of a multi-body manipulator's arm with revolution joints. The procedure is based on d'Alambert's principle and Newton-Euler equations, and considers each of the manipulator’s links as in equilibrium under a multitude of inertial, gravitational and driving forces in the process of its spatial motion. The method is straightforward and is based on the repeatability of mathematical operations. The derived set of differential equation are easy to program and could be integrated using standard routines. They also can be used to solve forward, as well as reverse dynamic problems. The algorithm is verified by comparative studies using well known simulation packages as well as experimental data. It can be very successfully applied on the stage of design when not all dynamic parameters of the new device are sufficiently known.
Authors and Affiliations
Bozhidar GRIGOROV
Keywords
Related Articles
- EP ID EP161868
- DOI -
- Views 66
- Downloads 0
The Computational Modelling of Tire
The article deals with the computational modelling of the strain-stress analyses of radial tire for passenger vehicles. The Finite Element Method (FEM) using the program system ANSYS is applied to the computational model...
Reliability of the FEM Calculations of the Fracture Mechanics Parameters
This paper describes some results obtained by analyzing cracked plates by means of FEM based on the procedures of ANSYS 10. The numerical results are compared with their analytical solution. The influence of mesh configu...
Generating Vocal Signal Sources
During last decade speech technology becomes more and more used in fields like: telecommunication and automated dialog systems. The speech technology is developed based on the knowledge of signal processing and comprises...
Experimental Evaluation of Competitiveness of Logistics Equipment
This study presents an examination of an experimental evaluation of the competitiveness of a typical representative of logistics equipment – forklifts with internal combustion engines (ICE forklifts), including assessing...
About Kinematic Parameters of the Spatial Hypocycloidal Automatic Machine for Cold Forming
Plane hypocycloidal automatic machines, forming an entire family, are a Romanian original concept developed at Transilvania University of Brasov. Recent researches emphasize the possibility of developing this group of au...