Simulation of a Six-Degree Manipulator

Simulation of a Six-Degree Manipulator

In paper develops a structure of a mechanical manipulator with six degrees of freedom. A mathematical model of the manipulator is investigated using the matrix method and the matrix Lagrange second-kind dynamic equations. As a result of the analysis of the mathematical model, generalized coordinates...

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Bibliographic Details
Main Authors: Sergei Ivanov, Tatiana Zudilova, Andrei Mikalauskas, Irina Osetrova, Lubov Ivanova
Format: Article
Language:English
Published: FRUCT 2019-11-01
Series:Proceedings of the XXth Conference of Open Innovations Association FRUCT
Subjects:
mechanical manipulator
six degrees freedom
matrix method
mathematical model
automated robotic systems
Online Access:https://fruct.org/publications/acm25/files/Iva.pdf
Description
Summary:In paper develops a structure of a mechanical manipulator with six degrees of freedom. A mathematical model of the manipulator is investigated using the matrix method and the matrix Lagrange second-kind dynamic equations. As a result of the analysis of the mathematical model, generalized coordinates, velocities and accelerations for the links of the robot are obtained, the spatial trajectory of the movement of the gripper of the manipulator is determined. The developed mathematical model of the robot allows you to design automated robotic systems with six degrees of freedom.
ISSN:2305-7254
2343-0737

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