COMPUTER-AIDED GRAPHICS IN THE DESIGN OF MOBILE MECHANICAL SYSTEMS

THE KINEMATIC ANALYSIS OF THE ROBOTIC ARM 2.1 The analytical method The M point position in relation to the global reference system 0 T is: ... The positions, speeds and accelerations for each kinematic element or characterisic point of the robot are determined: 2.3 Numerical simulation with Adams p...

Full description

Saved in:
Bibliographic Details
Published inJournal of Industrial Design and Engineering Graphics Vol. 14; no. 1; pp. 61 - 66
Main Authors Didu, Anca, Constantin, Andra, Contoloru, Violeta, Rotea, Cristina, Marinescu, Gabriel
Format Journal Article
LanguageEnglish
Published Bucharest Societatea Romana de Grafica Inginereasca (SORGING) 01.05.2019
SORGING
Subjects
CAD
Computer aided design
Computer simulation
Coordinate transformations
Deformation mechanisms
Finite element analysis
Finite element method
finite elements
Industrial robots
Kinematics
Material properties
mathematical modelling
Mathematical models
Mechanical systems
Mechanics
Multibody systems
Parameter identification
Powder metallurgy
Reference systems
Robot arms
Robots
Simulation
Three dimensional models
virtual prototyping
Worm gears
Online AccessGet full text

Cover

More Information
Summary:THE KINEMATIC ANALYSIS OF THE ROBOTIC ARM 2.1 The analytical method The M point position in relation to the global reference system 0 T is: ... The positions, speeds and accelerations for each kinematic element or characterisic point of the robot are determined: 2.3 Numerical simulation with Adams program With numerical data and variation laws of generalized coordinates defined in the mathematical model, two kinetic variants of the robot are built with the Adams program. CONCLUSIONS For the inverse dynamic analysis of the mechanism from an industrial robot with 5 degrees of freedom, the following steps were taken: - Elaboration of the kinematic scheme for the trajectory generator mechanism and the orientation mechanism; - Establishment of time variation laws of generalized coordinates; - Mathematical modeling of the robot working space through direct kinematic analysis; - Developing the kinematic model based on the theory of multi-body systems with the Adams program; - Identification of time variation laws for kinematic parameters (positions, speeds, accelerations); - Numerical processing and simulation of the working space; The finite element analysis of the worm gear was performed as follows: - Worm gear design and 3D geometric design; - Modeling of worm and worm wheel rotation coupler with finite bar type elements; - Definition of the material properties, the loads and the meshing with finite elements of the geometric model; - Determining the distribution of displacements, deformations and stresses in the gear elements.
ISSN:1843-3766
2344-4681