Simulation of a Six-Degree Manipulator
In paper develops a structure of a mechanical manipulator with six degrees of freedom. A mathematical model of the manipulator is investigated using the matrix method and the matrix Lagrange second-kind dynamic equations. As a result of the analysis of the mathematical model, generalized coordinates...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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FRUCT
2019-11-01
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| Series: | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| Subjects: | |
| Online Access: | https://fruct.org/publications/acm25/files/Iva.pdf
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| _version_ | 1818270961294639104 |
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| author | Sergei Ivanov Tatiana Zudilova Andrei Mikalauskas Irina Osetrova Lubov Ivanova |
| author_facet | Sergei Ivanov Tatiana Zudilova Andrei Mikalauskas Irina Osetrova Lubov Ivanova |
| author_sort | Sergei Ivanov |
| collection | DOAJ |
| description | In paper develops a structure of a mechanical manipulator with six degrees of freedom. A mathematical model of the manipulator is investigated using the matrix method and the matrix Lagrange second-kind dynamic equations. 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 movement of the gripper of the manipulator is determined. The developed mathematical model of the robot allows you to design automated robotic systems with six degrees of freedom. |
| first_indexed | 2024-12-12T21:18:36Z |
| format | Article |
| id | doaj.art-6721ed10c54a42eda29660fe8047df0b |
| institution | Directory Open Access Journal |
| issn | 2305-7254 2343-0737 |
| language | English |
| last_indexed | 2024-12-12T21:18:36Z |
| publishDate | 2019-11-01 |
| publisher | FRUCT |
| record_format | Article |
| series | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| spelling | doaj.art-6721ed10c54a42eda29660fe8047df0b2022-12-22T00:11:40ZengFRUCTProceedings of the XXth Conference of Open Innovations Association FRUCT2305-72542343-07372019-11-0162225458463Simulation of a Six-Degree ManipulatorSergei Ivanov0Tatiana Zudilova1Andrei Mikalauskas2Irina Osetrova3Lubov Ivanova4ITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationITMO National Research University (ITMO University), Saint Petersburg, Russian FederationIn paper develops a structure of a mechanical manipulator with six degrees of freedom. A mathematical model of the manipulator is investigated using the matrix method and the matrix Lagrange second-kind dynamic equations. 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 movement of the gripper of the manipulator is determined. The developed mathematical model of the robot allows you to design automated robotic systems with six degrees of freedom.https://fruct.org/publications/acm25/files/Iva.pdf mechanical manipulatorsix degrees freedommatrix methodmathematical modelautomated robotic systems |
| spellingShingle | Sergei Ivanov Tatiana Zudilova Andrei Mikalauskas Irina Osetrova Lubov Ivanova Simulation of a Six-Degree Manipulator Proceedings of the XXth Conference of Open Innovations Association FRUCT mechanical manipulator six degrees freedom matrix method mathematical model automated robotic systems |
| title | Simulation of a Six-Degree Manipulator |
| title_full | Simulation of a Six-Degree Manipulator |
| title_fullStr | Simulation of a Six-Degree Manipulator |
| title_full_unstemmed | Simulation of a Six-Degree Manipulator |
| title_short | Simulation of a Six-Degree Manipulator |
| title_sort | simulation of a six degree manipulator |
| topic | mechanical manipulator six degrees freedom matrix method mathematical model automated robotic systems |
| url | https://fruct.org/publications/acm25/files/Iva.pdf
|
| work_keys_str_mv | AT sergeiivanov simulationofasixdegreemanipulator AT tatianazudilova simulationofasixdegreemanipulator AT andreimikalauskas simulationofasixdegreemanipulator AT irinaosetrova simulationofasixdegreemanipulator AT lubovivanova simulationofasixdegreemanipulator |