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Kinematic And Dynamic Analyses Of General Robots By Applying The C-B Notation-Ramip (Robot And Mechanism Integrated Program), Bernardo Donoso
Kinematic And Dynamic Analyses Of General Robots By Applying The C-B Notation-Ramip (Robot And Mechanism Integrated Program), Bernardo Donoso
FIU Electronic Theses and Dissertations
In this thesis, a new symbolic representation based on 4x4 homogeneous matrices, C-B (Cylindrical Coordinates - Bryant Angles) notation, has been applied to the kinematic and dynamic analyses of general robots, and a computer algorithm named RaMIP (Robot and Mechanism Integrated Program) has been developed on a Sun workstation for the design and analysis of robots and mechanisms. RaMIP can be used to model most industrial robots currently in use. It performs three-dimensional kinematic and dynamic analyses and takes advantage of the computational efficiency of C-B notation. The C-B notation allows the user to model an arbitrary mechanism consisting of …