利用Maple软件提出了五自由度机器人方案和动态建模

Q3 Engineering

Strojnicky Casopis Pub Date : 2017-11-01 DOI:10.1515/scjme-2017-0023

A. Shala, Mirlind Bruçi

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引用次数: 5

摘要

机器人动力学建模是机器人系统建模、分析和控制的重要步骤。本文重点研究了用Denavit-Hartenberg (DH)约定进行运动学建模和用牛顿-欧拉公式进行5自由度三维机器人动力学建模。利用Maple软件完成了动力学模型的推导过程。推导了五自由度机器人的动力学模型，并将其转换为Matlab软件，用于未来的分析、控制和仿真。

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Proposed Robot Scheme with 5 DoF and Dynamic Modelling Using Maple Software

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.

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来源期刊

Strojnicky Casopis Engineering-Mechanical Engineering

CiteScore

2.00

自引率

0.00%

发文量

审稿时长

14 weeks