Open AccessDynamic Modeling and Analysis of Propulsion effect of 3 DoF robot
Author(s) -
Ahmet Shala,
Xhevahir Bajrami
Publication year - 2013
Publication title -
international journal of business and technology
Language(s) - English
Resource type - Journals
ISSN - 2223-8387
DOI - 10.33107/ijbte.2013.1.2.03
Subject(s) - kinematics , robot , propulsion , computer science , simulation , matlab , robot kinematics , control engineering , control theory (sociology) , modeling and simulation , axle , software , process (computing) , engineering , mobile robot , aerospace engineering , artificial intelligence , mechanical engineering , physics , programming language , control (management) , classical mechanics , operating system
Dynamical Modeling of robots is commonly first important step of Modeling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton- Euler Formulations for dynamic modeling of 3 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Simulations are done using Matlab/Simulink for analysis of propulsion effect under Earth gravity when First Link rotates with 1000 rpm, second Link can move free in vertical direction and Third Link can rotates free around their rotations axle. Simulations results shows very good propulsion of proposed 3 DoF robot. Results are verified-compared with constructed model of 3 DoF robot using Working Model 3D Software.