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DSpace at Transilvania University >
Mechanical Engineering >
COMAT 2022 >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/123456789/2651
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| Title: | INVERSE DYNAMIC MODELING OF THE 3R ROBOT USING THE SYMBOLIC COMPUTATION IN MATLAB |
| Authors: | Someșan, I.
Negrean, I.
Rus, M. |
| Keywords: | symbolic computation
3R structure
constraint force |
| Issue Date: | Oct-2022 |
| Publisher: | Transilvania University Press of Braşov |
| Citation: | http://scholar.google.ro/ |
| Series/Report no.: | COMAT 2022;128-134 |
| Abstract: | This paper presents mass geometry specific parameters for the 3R robot structure for each element, the absolute linear velocity of the mass center and the absolute linear acceleration of the mass center, the external force, the moment of the constraint force, the constraint force, the moment of the constraint force and the generalized driving forces. An important part of modelling and simulation of a robot is the generation of the geometric, kinematic and dynamic model of its mechanical structure. The software module presented in this paper allows the modelling of the generalized mechanical structure of the 3R robot and the automatic generation of the dynamic model equations of the considered robot. The application is written in MATLAB. |
| URI: | http://hdl.handle.net/123456789/2651 |
| ISSN: | 2457-8541 |
| Appears in Collections: | COMAT 2022
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