Working Space Analysis and Simulation of Modular Service Robot Arm Based on Monte Carlo Method

Bin He; Xiao Lin He; Li Zhi Han; Jin Tao Cao; Ming Li; Ying Zhong Tian

doi:10.4028/www.scientific.net/AMM.34-35.1104

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 34-35Working Space Analysis and Simulation of Modular...

Working Space Analysis and Simulation of Modular Service Robot Arm Based on Monte Carlo Method

Abstract:

Robot working space is an important kinematic indicator. After the modular service robot arm was introduced, DH coordinate system was used to build kinematics equations of 5-DOFs services robot arm. The whole working space model of the robot system was then established. Monte Carlo method was used to simulate the working space, which can straightforwardly and visually describe the working space of robot with high speed. It was indicated that the working points in the workspace of the robot were distributed compactly and uniformly, which can meet design requirements with high efficiency. The effectiveness of the working space model was testified by the simulation analysis on Matlab and experimental validation.

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Periodical:

Applied Mechanics and Materials (Volumes 34-35)

Pages:

1104-1108

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.34-35.1104

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Online since:

October 2010

Authors:

Bin He, Xiao Lin He, Li Zhi Han, Jin Tao Cao, Ming Li, Ying Zhong Tian

Keywords:

Modular Robot, Monte-Carlo Method (MC-Method), Service Robot Arm, Working Space

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References

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