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
Keywords
Related Articles
- EP ID EP43921
- DOI https://doi.org/10.1515/scjme-2017-0023
- Views 202
- Downloads 0
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...
Static Characteristics of Pressure Control Valve
The article deals with the measurement of static characteristics of a pressure control valve. The pressure, at which the valve starts to leak oil, is adjusted by a spring. The measurement is performed on a hydraulic sy...
The Effects of Piezoelectricity Matrix Constants on the Charge of a Thin Membrane
This article is devoted to the comparison of the influence of the piezoelectric matrix properties on the magnitude of the resulting charge when a thin piezoelectric membrane of circular cross section, made from alumini...
nfluence of Induction Hardening on Wear Resistance in Case of Rolling Contact
The main aim of the presented paper is to show how heat treatment, in our case the induction hardening, will affect the wear rates as well as the ratcheting evolution process beneath the contact surface in the field of...
FSW Numerical Simulation of Aluminium Plates by Sysweld - Part I
Friction Stir Welding (FSW) is one of the most effective solid state joining processes and it has numerous potential applications in many industries. The simulation process can provide the evolution of physical quantit...