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Dynamic Modeling And Analysis Of Propulsion Effect Of 3 Dof Robot, Ahmet Shala, Xhevahir Bajrami
Dynamic Modeling And Analysis Of Propulsion Effect Of 3 Dof Robot, Ahmet Shala, Xhevahir Bajrami
International Journal of Business and Technology
Dynamical Modeling of robots is commonly first important step of Modeling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton- Euler Formulations for dynamic modeling of 3 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Simulations are done using Matlab/Simulink for analysis of propulsion effect under Earth gravity when First Link rotates with 1000 rpm, second Link can move free in vertical direction and Third Link can rotates free around their rotations axle. Simulations results shows very good …
Dynamic Simulation Of The Cad Model In Simmechanics With Multiple Uses, Jiri Zátopek, Zdenek Ú?Ední?Ek, José Machado, João Sousa
Dynamic Simulation Of The Cad Model In Simmechanics With Multiple Uses, Jiri Zátopek, Zdenek Ú?Ední?Ek, José Machado, João Sousa
Turkish Journal of Electrical Engineering and Computer Sciences
When designing a mechatronic system, several steps are taken into account. One of the main steps is the design of a CAD model representing the physical part of the system, and another major point is the development of the mathematical model necessary for the respective controller design. This paper combines both design steps and shows the advantages of using this approach. First, a CAD model is created considering the kinematic and dynamic behavior of the system as well as respective material properties. This CAD model is, in parallel, used for both purposes: as the main basis for developing a mathematical …