Open AccessKINEMATICS OF TWO LINK MANIPULATOR IN MATLAB/SIMULINK AND MSC ADAMS/VIEW SOFTWARE
Author(s) -
Darina Hroncová,
Ľubica Miková,
Ivan Virgala,
Erik Prada
Publication year - 2021
Publication title -
mm science journal
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.195
H-Index - 10
eISSN - 1805-0476
pISSN - 1803-1269
DOI - 10.17973/mmsj.2021_10_2021025
Subject(s) - kinematics , matlab , computer science , software , mechanism (biology) , kinematic chain , acceleration , kinematics equations , mechanical system , position (finance) , serial manipulator , simulation , control engineering , robot kinematics , parallel manipulator , robot , control theory (sociology) , engineering , artificial intelligence , operating system , control (management) , physics , classical mechanics , quantum mechanics , mobile robot , finance , economics
The paper deals with the kinematic analysis of a manipulator mechanism. The matrix method of kinematic analysis is used for the solution. The robot's mechanism is an open kinematic chain. The vector of position, velocity and acceleration is determined. The problem is solved using Matlab and MSC Adams / View. The Matlab program is used to solve kinematics equations in symbolic form. Computer software reduces the design time and also brings economic benefits. Conditions are being created for faster research and the creation of new mechanical systems gradually appearing in the production area. Computer simulation can also serve an educational purpose and giving additional information about the mechanical systems through simulation and kinematic analysis.