The Kinematics Modeling and Simulation of a Mechanical Arm in Nuclear Industry with Postpositional Drive

Rui Feng Zhao; Zhen Zhang; Jiu Qiang Cui

doi:10.4028/www.scientific.net/AMM.496-500.754

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 496-500The Kinematics Modeling and Simulation of a...

The Kinematics Modeling and Simulation of a Mechanical Arm in Nuclear Industry with Postpositional Drive

Abstract:

For the particularity of the environment in nuclear industry, this paper puts forward a modularized mechanical arm with postpositional drive. On the basis of structural characteristics and kinematic constraints, the kinematics of robotic arm is analyzed. The D-H method is used for describing the workspace, based on considering the kinematic constraints, the forward kinematics model is achieved. Using an improved search method, the inverse kinematics solution is obtained. Through the simulation on data processing software, the validity of positive kinematics model and inverse kinematic solutions are verified. Finally, the trajectory planning is completed on the three-dimensional modeling platform.

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Periodical:

Applied Mechanics and Materials (Volumes 496-500)

Pages:

754-759

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.496-500.754

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Cite this paper

Online since:

January 2014

Authors:

Rui Feng Zhao*, Zhen Zhang, Jiu Qiang Cui

Keywords:

Kinematics, Mechanical Arm, Motion Simulation, Trajectory Planning

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* - Corresponding Author

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