Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator
In the research of robotic manipulator，trajectory planning and dynamics analysis are very important.In view of the structural characteristics of the four-DOF manipulator for electro test and installation of ground wire，the dynamics model is established by Lagrange method and the dynamics analysis is...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-04-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.04.018 |
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| author | Liu Lei Zhu Xinglong Yin Junyao |
| author_facet | Liu Lei Zhu Xinglong Yin Junyao |
| author_sort | Liu Lei |
| collection | DOAJ |
| description | In the research of robotic manipulator，trajectory planning and dynamics analysis are very important.In view of the structural characteristics of the four-DOF manipulator for electro test and installation of ground wire，the dynamics model is established by Lagrange method and the dynamics analysis is carried out.On the basis of fourth order polynomial，the non-impact trajectory planning is proposed.The Simulink module in Matlab is used to get the curve of the moment and force of each joint changing with time.Using Adams software to carry out dynamics simulation，the moment and force curve of each joint are got，and compare with the curve calculated by Simulink，the correctness of dynamic analysis are confirmed，the foundation for the next structural design and system control is laid. |
| format | Article |
| id | doaj-art-fdb98fecc9cc475e9d53af828b6906b9 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-04-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-fdb98fecc9cc475e9d53af828b6906b92025-01-10T14:44:32ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-04-014411311931442889Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF ManipulatorLiu LeiZhu XinglongYin JunyaoIn the research of robotic manipulator，trajectory planning and dynamics analysis are very important.In view of the structural characteristics of the four-DOF manipulator for electro test and installation of ground wire，the dynamics model is established by Lagrange method and the dynamics analysis is carried out.On the basis of fourth order polynomial，the non-impact trajectory planning is proposed.The Simulink module in Matlab is used to get the curve of the moment and force of each joint changing with time.Using Adams software to carry out dynamics simulation，the moment and force curve of each joint are got，and compare with the curve calculated by Simulink，the correctness of dynamic analysis are confirmed，the foundation for the next structural design and system control is laid.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.04.018Four-DOF manipulator |
| spellingShingle | Liu Lei Zhu Xinglong Yin Junyao Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator Jixie chuandong Four-DOF manipulator |
| title | Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator |
| title_full | Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator |
| title_fullStr | Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator |
| title_full_unstemmed | Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator |
| title_short | Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator |
| title_sort | non impact trajectory planning and dynamics simulation analysis of four dof manipulator |
| topic | Four-DOF manipulator |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.04.018 |
| work_keys_str_mv | AT liulei nonimpacttrajectoryplanninganddynamicssimulationanalysisoffourdofmanipulator AT zhuxinglong nonimpacttrajectoryplanninganddynamicssimulationanalysisoffourdofmanipulator AT yinjunyao nonimpacttrajectoryplanninganddynamicssimulationanalysisoffourdofmanipulator |