The Rigid-Flexible Coupled Modeling and Dynamic Simulation of HP-20 Robot

Gang Zhang; Hai Bo Huang; Ting Zhang

doi:10.4028/www.scientific.net/AMM.101-102.508

Paper Titles

Numerical Study of Low Gravity Effect on the Pressure-Sinkage Characteristics of Soft Soil
p.488

Non-Linear Finite Element Analysis on Thrust Cylinder of Shield Machine
p.492

Texture Segmentation of Jacquard Fabric Image Based on Multiresolution Markov Random Field
p.496

Fatigue Strength Simulation of Boom System Structure of Pump Truck
p.500

The Rigid-Flexible Coupled Modeling and Dynamic Simulation of HP-20 Robot
p.508

Flow Field Simulation of the Solo-Supported High Pressure Gas Device of Double-Layer Air Jet Looms
p.512

Dynamics Modeling and Simulation of a Six-Wheel All-Terrain Mobile Robot Based on ADAMS
p.516

A Three-Dimensional Finite Element Method for Nonsteady State Temperature Distribution in the Rolling Process
p.521

Optimization of Process Parameters for Warpage Minimization on Injection Molding Thin-Walled Parts
p.525

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 101-102The Rigid-Flexible Coupled Modeling and Dynamic...

The Rigid-Flexible Coupled Modeling and Dynamic Simulation of HP-20 Robot

Abstract:

The rigid-flex coupled multi-body dynamic model of Motoman HP20 was built in this paper. The parts geometry shapes were modeled in 3D modeling software and imported into the multi-body platform. Then the joints were added to the parts. The arms were analyzed in FE software and modal neutral files were obtained. Then rigid parts were replaced by the modal neutral files. Driven curves of each arm joint were obtained by D-H method. The modal analysis of system was also made to analyze the robot dynamic characters. The results give some suggestions for robot motor selection and structural dynamic optimization.

You might also be interested in these eBooks

Advances in Engineering Design and Optimization II

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 101-102)

Pages:

508-511

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.101-102.508

Citation:

Cite this paper

Online since:

September 2011

Authors:

Gang Zhang, Hai Bo Huang, Ting Zhang

Keywords:

Dynamic Simulation, Model Analysis, Robot, Virtual Prototype

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Y. Y. Zhai, J. Lv and C. H. Zhao: Design and Research, (2010)No. 30, pp.154-155(in Chinese).

Google Scholar

[2] D. Wang, R.P. Xu and Y.B. Hu: Research and use, (2008)No. 33, pp.47-49(in Chinese).

Google Scholar

[3] D.S. Tian, M. Hu, P. Zou and Y. X, Liu: Machine and electron, (2009)No. 2, p.59(in Chinese).

Google Scholar

[4] Z.G. Li: ADSMS Detailed Introduction and Examples (National Defense Industry Press, China 2008)(in Chinese).

Google Scholar

[5] F.C. Sun, J.H. Zhu and G.D. Liu: Introduction to robotics Analysis, Systems, Applications (Publishing House of Electronics Industry, China 2006) (in Chinese).

Google Scholar