Open AccessCOMPUTER MODELING IN MSC ADAMS/VIEW AS PART OF A MODERN APPROACH TO THE DESIGN OF MECHANICAL SYSTEMS OF ROBOTS
Author(s) -
Darina Hroncová
Publication year - 2021
Publication title -
tehnìčnì nauki ta tehnologìï
Language(s) - English
Resource type - Journals
eISSN - 2519-4569
pISSN - 2411-5363
DOI - 10.25140/2411-5363-2021-2(24)-23-32
Subject(s) - kinematics , matlab , robot , computer science , robot end effector , trajectory , computer program , kinematic chain , robot kinematics , control theory (sociology) , simulation , deflection (physics) , mechanical system , point (geometry) , control engineering , engineering , artificial intelligence , mathematics , physics , classical mechanics , mobile robot , geometry , programming language , control (management) , astronomy
The presented paper deals with the use of computer simulation in the design of a robot model with 4 degrees of freedom of movement. The MSC Adams program is used in the computer simulation, and the use of the Matlab program is also shown. The robot's mechanism is an open kinematic chain. During kinematic analysis, attention is paid to solving the direct problem of kinematics in MSC Adams and in Matlab. The result of the solution is the calculated trajectory of the movement of the selected point of the end effector. The trajectory is shown in graphical form. In Matlab, the magnitude of the position vector of the effector point is calculated as a function of time at the selected course of angular deflection in individual kinematic pairs at constant angular velocities in individual joints of the robot.