TAILIEUCHUNG - A contribution to the dynamic simulation of robot manipulator with the software robotdyn

Robots manipulators are multibody systems with tree structures. In this paper the theoretical background of the computer program RobotDyn is presented. The program is developed using Lagrange's equations and Denavit-Hartenberg matrix. The dynamic simulation of the Robot SCARA with four degrees of freedom is considered as an example of application of the program RobotDyn. | Vietnam Journal of Mechanics , VAST , Vol. 26 , 2004, No. 4 (215 - 225) A CONTRIBUTION TO THE DYNAMIC SIMULATION OF ROBOT MANIPULATOR WITH THE SOFTWARE ROBOTDYN NGUYEN VAN KHANG, Do THAN H TRUNG · Hanoi University of Technology ABSTRACT Robots manipulators are multibody systems with tree structures. In this paper the theoretical background of the computer program RobotDyn is presented. The program is developed using Lagrange's equations and Denavit-Hartenberg matrix. The dynamic simulation of the Robot SCARA with four degrees of freedom is considered as an example of application of the program RobotDyn. 1 Int roduction The simulation of robotic manipulators is a very important issue. Dynamic simulation is usually performed in two steps: (1) generation of the dynamics model and (2) solution of the model. Since t he dynamics equations of robot manipulator are highly nonlinear and coupled , the analytical solution of such equations is thought to be impossible. Hence numerical approaches have to be used . The development of the computer-oriented methods for t he generation of dynamic robot models can roughly be divided into three groups: 1. Numerical methods, 2. Numerical-symbolic method, 3. Symbolic methods. This is also the chronological order of development of t he modeling techniques. The later the model appeared, the less computational harden it offered. Naturally, the model generation algorithms are more and more complex. In t his paper , the generation of t he dynamic model of robot manipulators using t he Lagrange's equations is revised. A computer program for the dynamic analysis of Robots based on Maple Software is built at the Hanoi University of Technology, and called as program RobotDyn. The RobotDyn program has often been used for analysis of the Robot manipulators. ' 215 2 Theoretical background of the software RobotDyn The D enavit-Hartenberg Matrix In order to compute the direct. kinematics equat ions for an open-chain manipulator , .

• Cơ khí - Chế tạo máy
• Vietnam Journal of Mechanics
• The dynamic simulation of robot manipulator
• The software robotdyn
• The theoretical background
• The Robot SCARA
• The program RobotDyn
• Dang Dinh Ang
• Nonlinear analysis and mechanics
• Dynamic problems involving stationary cracks
• The Wiener Hopt technique
• Dual integral equations
• Dual integrals in non linear fracture mechanics
• Non linear fracture mechanics
• Energy release rate
• Discuss the obtained
• The alpha finite element method (αFEM)
• Solid mechanics using triangular and tetrahedral elements
• Suitable computational cost
• NS FEM makes
• The upper bound property
• Non linear constitutive problems in solid mechanics
• Non linear constitutive problems
• Languages Gibian and special operators
• The application FEM
• Betts miller janjic convective parameterization scheme
• H14 31 model to forecast heavy rainfall in Vietnam
• Betts Miller Janjic
• Three rain seasons
• Manufacturing dry mixed cement mortar
• High compressive strength
• High flexural strength
• Low shrinkage and high watertightness for restoration
• Damaged hydraulic structures in Vietnam
• Standard gradient models and crack simulation
• Standard gradient models
• The propagation of cracks
• Damage mechanics and crack simulation
• The interaction between two parametric excitations
• The second and third degrees
• The asymptotic method of nonlinear mechanics
• Dynamic system governed
• Comparison of two hydrological model simulations
• Nam and Xinanjiang for Nong Son catchment
• The Central Vietnam
• The runoff components
• 3 D numerical simulation
• The tidal circulation
• The gulf of Tonkin
• The kinetic energy distribution
• Duality in the analysis of responses to nonlinear systems
• The analysis of responses
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• The study of nonlinear mechanics
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• In plane compression load
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• A three story building
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• Evaluating structural safety based on fuzzy set theory
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• Simple beam structure