Dynamic Multibody Simulation of a 6-DOF Robotic Arm

Abstract:

Based on the kinematic model with Cartesian structure, Newton-Euler like algo¬rithm being employed to solve the nonlinear equations of motion and constraints in real-time application, and dynamic multibody simulation, a novel integrated design for a 6-DOF ro¬bot is investigated, and the interfaces required for the implementation of different computer aided engineering (CAE) tools used in the design is addressed [1].The presented method in this paper was analyzed and verified by the numerical and physical 6-DOF robot model, the result shows that the topologic projection me-thod [2] is stable. The design experience accumulated will be very useful for the future product de-sign.

• Periodical: Advanced Materials Research (Volumes 139-141)
• Pages: 1001-1004
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.139-141.1001
• Online since: October 2010
• Authors: Bin Li, Xi Fan Yao, Chun Bao Wang, Hui Dong Lou
• Keywords: Multibody, Prototype, Topological Projection Algorithm

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