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...

Full description

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
id doaj-6721ed10c54a42eda29660fe8047df0b
record_format Article
spelling doaj-6721ed10c54a42eda29660fe8047df0b2020-11-24T21:23:43ZengFRUCTProceedings of the XXth Conference of Open Innovations Association FRUCT2305-72542343-07372019-11-0162225458463Simulation of a Six-Degree ManipulatorSergei Ivanov0Tatiana Zudilova1Andrei Mikalauskas2Irina Osetrova3Lubov Ivanova4ITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationIn 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.https://fruct.org/publications/acm25/files/Iva.pdf mechanical manipulatorsix degrees freedommatrix methodmathematical modelautomated robotic systems
collection DOAJ
language English
format Article
sources DOAJ
author Sergei Ivanov
Tatiana Zudilova
Andrei Mikalauskas
Irina Osetrova
Lubov Ivanova
spellingShingle Sergei Ivanov
Tatiana Zudilova
Andrei Mikalauskas
Irina Osetrova
Lubov Ivanova
Simulation of a Six-Degree Manipulator
Proceedings of the XXth Conference of Open Innovations Association FRUCT
mechanical manipulator
six degrees freedom
matrix method
mathematical model
automated robotic systems
author_facet Sergei Ivanov
Tatiana Zudilova
Andrei Mikalauskas
Irina Osetrova
Lubov Ivanova
author_sort Sergei Ivanov
title Simulation of a Six-Degree Manipulator
title_short Simulation of a Six-Degree Manipulator
title_full Simulation of a Six-Degree Manipulator
title_fullStr Simulation of a Six-Degree Manipulator
title_full_unstemmed Simulation of a Six-Degree Manipulator
title_sort simulation of a six-degree manipulator
publisher FRUCT
series Proceedings of the XXth Conference of Open Innovations Association FRUCT
issn 2305-7254
2343-0737
publishDate 2019-11-01
description 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.
topic mechanical manipulator
six degrees freedom
matrix method
mathematical model
automated robotic systems
url https://fruct.org/publications/acm25/files/Iva.pdf
work_keys_str_mv AT sergeiivanov simulationofasixdegreemanipulator
AT tatianazudilova simulationofasixdegreemanipulator
AT andreimikalauskas simulationofasixdegreemanipulator
AT irinaosetrova simulationofasixdegreemanipulator
AT lubovivanova simulationofasixdegreemanipulator
_version_ 1725991427083599872

Similar Items