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In order to enhance the study of the kinematics of any robot arm, parameter design is directed according to certain necessities for the robot, and its forward and inverse kinematics are discussed. The DH convention Method is used to form the kinematical equation of the resultant structure. In addition, the Robotics equations are modeled in MATLAB to create a 3D visual simulation of the robot arm to...
In this paper, the forward and inverse kinematics of a robot manipulator named RV-M1 are analyzed. The forward kinematic model is based on the DH parameters, and the inverse one is derived in closed form. Then, the interactive simulation system is established using MATLAB software which is one of the most used platforms for the modeling and simulation of robot systems. Finally, the simulation results...
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...
The conventional research on Mecanum vehicle mainly focuses on the analysis of its kinematic and dynamic model, while the characteristics of its driving motor are seldom considered. This paper is based on the kinematic and dynamic model of the four-wheel Mecanum vehicle, as well as the mathematical model of brushless DC motor (BLDC); by the combination of these two models, this paper presents the...
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...
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...
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 this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation...
In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation...
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...
In this paper, a 3-RPS pyramid mechanism is analysed. Three constraining force screw limit the translations of the pyramid in three directions, only three rotating freedom is allowed in spatial. The mechanism has screw motion along its diagonal. The input rationality of the mechanism is discussed using the screw theory. We build up the model of this mechanism with the application of MATLAB, study...
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