Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics

Abstract:

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Kinematics and dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. After the comparison among different methods of manipulator kinematics and dynamics,this paper adopts homogeneous coordinate transformation to analyze and research positive solutions of the space 5-DOF manipulator kinematics, applies mathematics in the approximate calculation to solve the equations’ inverse problems because of the explicit difficult nature to derive analytic solution; conducts dynamics analysis to the manipulator and adopts the Lagrange dynamics method to establish an ideal model, i.e., a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force, to complete the research on the simulation calculation of dynamics inverse solution.

Info:

Periodical:

Key Engineering Materials (Volumes 419-420)

Edited by:

Daizhong Su, Qingbin Zhang and Shifan Zhu

Pages:

585-588

DOI:

10.4028/www.scientific.net/KEM.419-420.585

Citation:

L. Q. Li et al., "Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics", Key Engineering Materials, Vols. 419-420, pp. 585-588, 2010

Online since:

October 2009

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Price:

$35.00

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