DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX
Manipulation robots are complex spatial mechanical systems having five or six degrees of freedom, and sometimes more. For this reason, modeling manipulative robots movement, even in the kinematic formulation, is a complex mathematical task. If one moves from kinematic modeling of motion to dynamic m...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Science and Innovation Center Publishing House
2018-02-01
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| Series: | International Journal of Advanced Studies |
| Subjects: | |
| Online Access: | http://journal-s.org/index.php/ijas/article/view/10458 |
| _version_ | 1818040425581117440 |
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| author | Vadim Vladimirovich Chirkov Aleksandr Sergeyevich Shevtsov |
| author_facet | Vadim Vladimirovich Chirkov Aleksandr Sergeyevich Shevtsov |
| author_sort | Vadim Vladimirovich Chirkov |
| collection | DOAJ |
| description | Manipulation robots are complex spatial mechanical systems having five or six degrees of freedom, and sometimes more. For this reason, modeling manipulative robots movement, even in the kinematic formulation, is a complex mathematical task. If one moves from kinematic modeling of motion to dynamic modeling then there must be taken into account the inertial properties of the modeling object. In this case, analytical constructing of such a complex object mathematical model as a manipulation robot becomes practically impossible. Therefore, special computer-aided design systems, called CAE-systems, are used for modeling complex mechanical systems. The purpose of the paper is simulation model construction of a complex mechanical system, such as the industrial robot TUR10-K, to obtain its dynamic characteristics. Developing such models makes it possible to reduce the complexity of designing complex systems process and to obtain the necessary characteristics.
Purpose. Developing the simulation model of the industrial robot TUR10-K and obtaining dynamic characteristics of the mechanism.
Methodology: the article is used a computer simulation method.
Results: There is obtained the simulation model of the robot and its dynamic characteristics.
Practical implications: the results can be used in the mechanical systems design and various simulation models. |
| first_indexed | 2024-12-10T08:14:20Z |
| format | Article |
| id | doaj.art-0aa3c655233d4d538f5615b895dc4802 |
| institution | Directory Open Access Journal |
| issn | 2328-1391 2227-930X |
| language | English |
| last_indexed | 2024-12-10T08:14:20Z |
| publishDate | 2018-02-01 |
| publisher | Science and Innovation Center Publishing House |
| record_format | Article |
| series | International Journal of Advanced Studies |
| spelling | doaj.art-0aa3c655233d4d538f5615b895dc48022022-12-22T01:56:29ZengScience and Innovation Center Publishing HouseInternational Journal of Advanced Studies2328-13912227-930X2018-02-0173466310.12731/2227-930X-2017-3-46-636242DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEXVadim Vladimirovich Chirkov0Aleksandr Sergeyevich Shevtsov1Брянский государственный технический университетБрянский государственный технический университетManipulation robots are complex spatial mechanical systems having five or six degrees of freedom, and sometimes more. For this reason, modeling manipulative robots movement, even in the kinematic formulation, is a complex mathematical task. If one moves from kinematic modeling of motion to dynamic modeling then there must be taken into account the inertial properties of the modeling object. In this case, analytical constructing of such a complex object mathematical model as a manipulation robot becomes practically impossible. Therefore, special computer-aided design systems, called CAE-systems, are used for modeling complex mechanical systems. The purpose of the paper is simulation model construction of a complex mechanical system, such as the industrial robot TUR10-K, to obtain its dynamic characteristics. Developing such models makes it possible to reduce the complexity of designing complex systems process and to obtain the necessary characteristics. Purpose. Developing the simulation model of the industrial robot TUR10-K and obtaining dynamic characteristics of the mechanism. Methodology: the article is used a computer simulation method. Results: There is obtained the simulation model of the robot and its dynamic characteristics. Practical implications: the results can be used in the mechanical systems design and various simulation models.http://journal-s.org/index.php/ijas/article/view/10458Манипуляционный роботдинамическое моделированиеCAD-CAE-системы |
| spellingShingle | Vadim Vladimirovich Chirkov Aleksandr Sergeyevich Shevtsov DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX International Journal of Advanced Studies Манипуляционный робот динамическое моделирование CAD- CAE-системы |
| title | DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX |
| title_full | DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX |
| title_fullStr | DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX |
| title_full_unstemmed | DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX |
| title_short | DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX |
| title_sort | developing industrial robot simulation model tur10 k using universal mechanism software complex |
| topic | Манипуляционный робот динамическое моделирование CAD- CAE-системы |
| url | http://journal-s.org/index.php/ijas/article/view/10458 |
| work_keys_str_mv | AT vadimvladimirovichchirkov developingindustrialrobotsimulationmodeltur10kusinguniversalmechanismsoftwarecomplex AT aleksandrsergeyevichshevtsov developingindustrialrobotsimulationmodeltur10kusinguniversalmechanismsoftwarecomplex |