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This paper focuses on using the Robotics Toolbox in MATLAB for simulating the motion and environmental physics of a two-legged humanoid robot. The said software is built primarily for single serial-link manipulators in a free environment without holonomic constraints. Methods for additional functionality required for a biped interacting with an environment and control schemes for simulation are presented...
The electro-hydraulic position servo system is researched to simulate with AMESim and Matlab based on their own characteristics and the simulation method associated with them. The system parameter is optimized in the AMESim/Matlab environment, which gives the simulation and optimization results. By this method, the research on large electro-hydraulic system joint simulation and parameter optimization...
A co-simulation on virtual prototype of a type of spot welding robot has been accomplished by combining MATLAB/Simulink with RecurDyn. The control algorithm is executed under MATLAB to generate command forces, which are then exported to RecurDyn environment and applied to actuators of the virtual prototype at each cycle of time. Dynamic control on joint angles was accomplished through the co-simulation...
Passive rehabilitation robots are the auxiliary equipment which used to help patients recovering from diseases. In this paper, we addressed a lower limb 4-degree of freedom (4-DOF) model, proposed a lower limb rehabilitation mechanism. Based on MATLAB/Simulink software, analyze the displacement, speed and acceleration of fulcrums are analyzed. Experiment results verified that the simulation results...
Modeling and simulation of multi-fingered robot hand (MFRH) is increasingly gaining importance amongst researchers for industrial and medical applications. In this paper, a MFRH with five fingers is modeled and simulated for grasping task. This was done using a CAD tool known as Solidworks, and an analytical tool known as SimMechanics of MATLAB. The simulation results show that the improved performance...
With exploiting space deeply, space robot will play a more important role. A simulation system of a three layer structure based on ADAMS, MATLAB and VC++ is present in this paper, which can simulate and analyze the kinematics and dynamics of space robot in the process of capturing and releasing space object. Verification results show that this system can well explain space robot's dynamic and kinetic...
We adopt multi-point planning method based on cubic spline function to perform parametric design of dynamic walking. The objective of optimization is to achieve maximum ZMP stability and minimum joint driving torque, together with the combination of multi-objective genetic algorithm to optimize the gait parameters. Simulation verification has also been carried out in ADAMS and Matlab after optimization...
A digital integrated development platform, which is based on Pro/E, ADAMS, ANSYS and Matlab, is introduced in this paper. A type of 6-DOF industrial robot for laser cutting is developed on this platform. In the virtual environment, the development efficiency is improved, as well as the reliability of the robot. The 3D parametric model of the laser cutting robot is firstly built by using Pro/E. Through...
The paper presents the realization of a geometrical model of the RV-2AJ robotic arm built by Mitsubishi using the CAD environment SolidWorks. The geometrical modelling was done according to the robots dimensions and without putting in virtual model the parts that don't have a major influence in his kinematics; like screws, nuts or wires. The robots arm kinematics where then resolved and its schematics...
Quantification of the lumbar spine compression and shear forces is a continuing challenge in biomechanics. The purpose of this study is to develop a virtual model with the ability to determine the kinetics of lumbar spine joints during complex activities.
In order to improve the mechanical behavior of mast link frame system of rotary drilling rig, studying on the impact of installation angle of mast link frame system is necessary. Based on Newton-Euler method, the kinematic and dynamic constraint equations of mast link frame system were derived. The dynamic simulation model based on MATLAB was built in Simulink, and a series of simulation were run...
This paper presents the ground work prepared for turning a bucket wheel reclaimer (BWR) into a robotic arm for operation automation. BWR has been widely used in dealing with bulk materials by removing them from the conveyor and stack them as well as to load stacked materials onto the in-feed conveyor, such as in mining industry. Generally speaking, current BWRs are manually operated, remotely operated,...
The paper presents a novel structure of the Isoglide3 parallel robot (IG3PR), as an effective robotic device with three degrees of freedom manipulation. The IG3PR manipulator offers the characteristics, advantageous relative to the other parallel manipulators (light weight construction), while on the other hand alleviates some of the traditional weaknesses of parallel manipulators, (extensive use...
Firstly, a tomato harvesting robot in greenhouse is introduced, the workspace of which is visually verified that it covers the tomatoes distribution space of one plant and hasnpsilat cavity by the pose diagrams of end-effector, and the designed robot has high flexibility. Subsequently the forward and inverse kinematics of harvesting robot is analyzed, so the range of joint variables and the inverse...
In recent years, studies about control methods for complex machines and robots have been developed rapidly. Biped robots are often treated as inverted pendulums for its simple structure. But modeling of robot and other complex machines is a time-consuming procedure. A new method of modeling and simulation of robot based on SimMechanics is proposed in this paper. Physical modeling, parameter setting...
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