{"title":"Theoretical and experimental dynamic evaluations of revolute-prismatic joints manipulator contains N-rigid links and hubs","authors":"P. Monfared, M. Mojarradi, S. F. Dehkordi","doi":"10.1109/ICROM.2017.8466217","DOIUrl":null,"url":null,"abstract":"in this paper, a rigid manipulator that is composed of revolute-prismatic joints has been designed and modeled by recursive Gibbs-Appell formulation. The manipulator contains N-rigid links and sleeves and in comparison to previous researches, the mass of joint's hub has been added in dynamic equations. Therefore, the obtained equations are complicated, because of the combined reciprocating and rotating link's motion, as well as, the joint's hub act as one extra part considered in a collection with the link as one arm. The results are evaluated by the experimental setup that is designed and manufactured in Robotic Laboratory of Iran University of Science and Technology and appropriate system simulated in MATLAB SimMechanics simulator. The concluded system with the dynamic equation and simulated system can be used for precise positioning, repetitive task and object manipulations.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"212 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICROM.2017.8466217","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
in this paper, a rigid manipulator that is composed of revolute-prismatic joints has been designed and modeled by recursive Gibbs-Appell formulation. The manipulator contains N-rigid links and sleeves and in comparison to previous researches, the mass of joint's hub has been added in dynamic equations. Therefore, the obtained equations are complicated, because of the combined reciprocating and rotating link's motion, as well as, the joint's hub act as one extra part considered in a collection with the link as one arm. The results are evaluated by the experimental setup that is designed and manufactured in Robotic Laboratory of Iran University of Science and Technology and appropriate system simulated in MATLAB SimMechanics simulator. The concluded system with the dynamic equation and simulated system can be used for precise positioning, repetitive task and object manipulations.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
