Proposed Robot Scheme with 5 DoF and Dynamic Modelling Using Maple Software
Journal Title: Strojnicky casopis - Journal of Mechanical Engineering - Year 2017, Vol 67, Issue 1
Abstract
In this paper is represented Dynamical Modelling of robots which is commonly first important step of Modelling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler Formulations for dynamic modelling of 5 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Derived Dynamical Model of 5 DoF robot is converted for Matlab use for future analysis, control and simulations.
Authors and Affiliations
Ahmet Shala and Mirlind Bruçi
Numerical Calculation of Overhead Power Lines Dynamics
This paper contains results of transient analysis of airflow around the ACSR power line cross-section in unsymmetric multi-span. The forces applied to the power line are obtained from CFD simulations, where the wind in...
Effect of Dry Friction on Bifurcation Diagram of Furuta Pendulum
Traditionally, the Furuta pendulum was used for testing advanced control strategies on a simple nonlinear and underactuated structure. In this paper, we investigate analytically and experimentally the dynamical descrip...
Computational Fluid Dynamics Analysis of an Evaporative Cooling System
The use of chlorofluorocarbon based refrigerants in the air-conditioning system increases the global warming and causes the climate change. The climate change is expected to present a number of challenges for the built...
Ultrasonic Defect Detection of Structural Plates Using Quasi-Rayleigh Waves
This article discusses the application of so-called ultrasonic quasi-Rayleigh waves to detect surface defects of mechanical constructions, namely plate structures. The application of quasi-Rayleigh waves allows the ext...
Force Analysis of Bench Press on Stable and Unstable Base
The contribution reviews current technologies for the measurement of performance in athletes during stationary exercise and validates the technology utilizing accelerometry. The behaviours of force during the bench pre...