Abstract
Dynamic model analysis of manipulator as mechanical structure is presented for further purpose in actuator selection and process for establishing control strategy. Control problems involves determination of control forces and moments applied in manipulator joints that will ensure movements along a certain defined trajectory. Trajectory design is the basis for the manipulator control process. This problem is quite complex because the manipulator is a connected system in which the movement of a member affects the movement of other. Therefore, in following is presented a method for forces and moments determination in kinematic joints of a three-member manipulator analytically and also by using simulation dynamical model in the Matlab/Simulink program package. The friction forces in the kinematics joints are not taken into account.
Highlights
In order to study and analyse the mechanical or electrical systems, standard method is through their modelling
The objective of this paper is to present a method for forces and moments determination in kinematic joints of a three-member manipulator analytically and by using simulation dynamical model in the Matlab/Simulink program package
Analysis of three-member manipulator is based on a simulation model of the robot manipulator in Simulink and the obtained results will be compared with a mathematical calculation
Summary
In order to study and analyse the mechanical or electrical systems, standard method is through their modelling. For analysis of loads of mechanical systems element under the effect of given external and inertial forces from members movements, the kinetostatics method is used. This method is based on the D’Alembert’s principle which states that, the forces acting to a given body and inertial forces from the movement are in a fictitious balance. Equations that define the model dynamics of the robot manipulator are ordinary differential equations where variables are components of position and velocity vectors These equations are obtained using the Newton-Euler or by Lagrange method which is applied and presented in following. The objective of this paper is to present a method for forces and moments determination in kinematic joints of a three-member manipulator analytically and by using simulation dynamical model in the Matlab/Simulink program package
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