To Solve Mechanical Working Space by Applying Graphic Integration in ADAMS

Abstract:

This paper mainly focuses on applying graphical method to figure out the working space of the new five joint folding arm supported pumper based on ADAMS. Firstly, discrete the included angle α between the third and the forth arm support, pick out several special points, work out the changing curve of the included angle β in the region of [0,180°] between the forth and the fifth arm support, and then get the plane track of the motion of spray gun by superposition of those curves and finally take the effect of turn angles of rotary tables into consideration, figure out the three-dimensional working space track of the spray gun by the superposition of plane track curves in the region of [0,360°].

• Periodical: Advanced Materials Research (Volumes 605-607)
• Pages: 587-591
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.605-607.587
• Online since: December 2012
• Authors: Rui Hua Zhang, Yin Fa Zhu, Song Yang
• Keywords: Adam, Graphical Method, Working Space

References

[1] Baoling Han and Qiuli Wang , Mechanical Optimization and Analyses of Hexapod Walking Bio-robot J. Machine Design & Research 2006, 22(4): 11-12 In Chinese.

[2] Dongming Ye and Kaiming Li, Workspace analysis for a novel 3-DOF parallel manipulator 2012(02) In Chinese.

[3] Jian Zeng, Yizhong Lin and Wei Xia, Kinematics analysis and simulation for 6-rotation joint spraying robot J Machinery Design & Manufacture, 2010(6): 145-146 In Chinese.

[4] Hongwei Liu, Kinematics Simulation for a Kind of 5-DOF Robot Based on ADAMS J Development & Innovation of Machinery & Electrical Products, 2008, 21(6): 42-43 In Chinese.

[5] Bonev I A, Gosselin C M. Analytical Determination of the Workspace of Symmetrical Spherical Prallel Mechnisms[J]. IEEE Transactions on Robotics, 2006, 22(5): 1011-1017.

DOI: 10.1109/tro.2006.878983

[6] Shouwen Fan and Liju Xu , Analytical Method for Workspace Analysis of Robotic Manipulators J Machine Design And Research, 2004, 20(z1): 194－196 In Chinese.

[7] Yong Zhong and Jianxin Zhu, A new method to solve the robot working space J Machine Tool & Hydraulics, 2004(4): 66-67 In Chinese.

[8] Yi Cao, Xiujuan Li and Guanying Yang , Computation and Geometrical Error Analysis of a 3D Robot's Workspace J Mechanical Science and Technology2006, 25(12): 1458-1461 In Chinese.