Paper Title:
Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics
  Abstract

Kinematics and dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. After the comparison among different methods of manipulator kinematics and dynamics,this paper adopts homogeneous coordinate transformation to analyze and research positive solutions of the space 5-DOF manipulator kinematics, applies mathematics in the approximate calculation to solve the equations’ inverse problems because of the explicit difficult nature to derive analytic solution; conducts dynamics analysis to the manipulator and adopts the Lagrange dynamics method to establish an ideal model, i.e., a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force, to complete the research on the simulation calculation of dynamics inverse solution.

  Info
Periodical
Key Engineering Materials (Volumes 419-420)
Edited by
Daizhong Su, Qingbin Zhang and Shifan Zhu
Pages
585-588
DOI
10.4028/www.scientific.net/KEM.419-420.585
Citation
L. Q. Li, J. L. Wang, Y. G. Pang, "Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics", Key Engineering Materials, Vols. 419-420, pp. 585-588, 2010
Online since
October 2009
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

  | Authors: Li Dai, Yao Wu, Jian Wang, Yun Gong Li, Yu Liu
Chapter 4: Robotics and Human Interface
Abstract:Flexible hydraulic robotic arm is a complicated system which coupled by mechanics and hydraulics. It is widely applied in all kinds of large...
334
Authors: Li Dai, Da Lu Xu, Yu Liu, Jian Wang
Chapter 3: Modeling, Analysis and Simulation
Abstract:The flexible robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck,...
773
Authors: Yuan Yuan Luo, Dong Xu Li, Cai Zhi Fan
Chapter 3: Mechatronics, Robotics and Vehicle Engineering
Abstract:The solution selection problem of inverse kinematics for a mechanical arm is an important factor affecting the robot end effector...
211