Automated Robotic System with Five Degrees of Freedom

被引：0
|
作者：
Ivanov, Sergei [1 ]
Zudilova, Tatiana [1 ]
Osetrova, Irina [1 ]
Anantchenko, Igor [1 ]
Mikalauskas, Andrei [1 ]
机构：
[1] ITMO Natl Res Univ ITMO Univ, St Petersburg, Russia
来源：
PROCEEDINGS OF THE 2019 25TH CONFERENCE OF OPEN INNOVATIONS ASSOCIATION (FRUCT) | 2019年
关键词：
SIMULATION;
D O I：
10.23919/fruct48121.2019.8981529
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In paper develops and studies a mathematical model of an industrial robot with five degrees of freedom. The kinematic scheme of the robot is determined and the development of a mathematical model is performed using the matrix method and the Lagrange matrix dynamic equations. The study of the model is performed using the method of polynomial transformations. As a result of the analysis of the mathematical model, generalized coordinates, velocities and accelerations for the links of the robot are obtained. The spatial trajectory of the robot's gripper relative to the fixed base of the stand in the initial coordinate system is presented. The developed mathematical model of the robot allows you to determine the main dynamic characteristics of the robot, as well as the necessary generalized forces created by the drive links to move the robot's gripper to the selected point. This model allows the development of automated robotic systems and can be used in robot control systems with five degrees of freedom.
引用
收藏
页码：139 / 145
页数：7
相关论文
共 50 条
  • [1] ROBOTIC WELDING SYSTEM WITH PARALLEL DEGREES OF FREEDOM
    POTKONJAK, V
    KRSTULOVIC, A
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 1991, 8 (03) : 171 - 174
  • [2] Five degrees of freedom
    Bradley, David
    [J]. MATERIALS TODAY, 2020, 36 : 5 - 5
  • [3] The Design of Five Degree of Freedom Robotic Arm System
    Xu, ChangKai
    Li, Ming
    Liao, YuanJiang
    [J]. MANUFACTURING SCIENCE AND TECHNOLOGY, PTS 1-8, 2012, 383-390 : 1507 - +
  • [4] CONTROL AND ACTUATION SYSTEM OF A SIX DEGREES OF FREEDOM ROBOTIC ARM
    Covaciu, Florin
    [J]. ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2019, 62 (01): : 99 - 106
  • [5] On the Generation of Complex Trajectories Using a Robotic System with Six Degrees of Freedom
    Badoiu, Dorin
    Petrescu, Marius
    Toma, Georgeta
    Helthuis, Johannes Cornelis
    [J]. ENGINEERING SOLUTIONS AND TECHNOLOGIES IN MANUFACTURING, 2014, 657 : 803 - +
  • [6] Development and analysis of a five degrees of freedom robotic manipulator serving as a goalkeeper to train the football players
    Singh, Deep
    Singh, Yogesh
    [J]. 2ND INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL ENGINEERING (ICAME 2018), 2018, 402
  • [7] Kinematical behavior analysis and walking pattern generation of a five degrees of freedom pneumatic robotic leg
    Muscato, G
    Spampinato, G
    [J]. CLIMBING AND WALKING ROBOTS, 2005, : 181 - 190
  • [8] BRACON: control system for a robotic arm with 6 degrees of freedom for education systems
    Rivas, David
    Alvarez, Marcelo
    Velasco, Patricio
    Mamarandi, Javier
    Carrillo-Medina, Jose Luis
    Bautista, Victor
    Galarza, Omar
    Reyes, Patricio
    Erazo, Mayra
    Perez, Milton
    Huerta, Monica
    [J]. PROCEEDINGS OF THE 2015 6TH INTERNATIONAL CONFERENCE ON AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA), 2015, : 358 - 363
  • [9] Design of a low-cost five-finger anthropomorphic robotic arm with nine degrees of freedom
    Sharma, Ankit
    Noel, Mathew Mithra
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2012, 28 (04) : 551 - 558
  • [10] Investigation of vibration and ride characteristics of a five degrees of freedom vehicle suspension system
    Rahman, M. Shafiqur
    Kibria, Khan Muhammad Golam
    [J]. 10TH INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING (ICME 2013), 2014, 90 : 96 - 102
12345