Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms

Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms

Bibliographic Details
Main Author: Xue, Xiao
Language:English
Published: Ohio University / OhioLINK 2013
Subjects:
Mechanical Engineering
ADAMS
Dynamics
Parallel manipulator
MATLAB
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-ohiou13661089482021-08-03T05:22:06Z Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms Xue, Xiao Mechanical Engineering ADAMS Dynamics Parallel manipulator MATLAB A Slider-Crank mechanism, a 4-bar mechanism, a 2R planar serial robot and a Stewart-Gough parallel manipulator are modeled and simulated in MSC ADAMS/View. Forward dynamics simulation is done on the Stewart-Gough parallel manipulator; Inverse dynamics simulation is done on Slider-Crank mechanism, 2R planar serial robot and 4-bar mechanism. In forward dynamics simulation, the forces are applied in prismatic joints and the Stewart-Gough parallel manipulator is actuated to perform 4 different expected motions. The motion of the platform is measured and compared with the results in MATLAB. An example of inverse dynamics simulation is also performed on it. In the inverse dynamics simulation, the Slider-Crank mechanism and four-bar mechanism both run with constant input angular velocity and the actuating forces are measured and compared with the results in MATLAB. The 2R planar serial robot’s motions are defined with splines with driving torques measured and compared with Williams’s results in MATLAB. 2013-06-17 English text Ohio University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948 http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Mechanical Engineering
ADAMS
Dynamics
Parallel manipulator
MATLAB
spellingShingle Mechanical Engineering
ADAMS
Dynamics
Parallel manipulator
MATLAB

Xue, Xiao
Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
author Xue, Xiao
author_facet Xue, Xiao
author_sort Xue, Xiao
title Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
title_short Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
title_full Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
title_fullStr Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
title_full_unstemmed Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
title_sort investigation into the utility of the msc adams dynamic software for simulatingrobots and mechanisms
publisher Ohio University / OhioLINK
publishDate 2013
url http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948
work_keys_str_mv AT xuexiao investigationintotheutilityofthemscadamsdynamicsoftwareforsimulatingrobotsandmechanisms
_version_ 1719419089258020864

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