Dynamic simulation of robot manipulators Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/9c67wr10x

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  • A program has been written to investigate the dynamics of robot manipulators during task execution. The program simulates robot motion along a path specified by the user. A smooth trajectory is generated by interpolation in joint space. Forces and torques on actuators are calculated at intermediate points, using a recursive Lagrangian formulation of manipulator dynamics. Plots and tables of position, velocity, acceleration and generalized force, versus time may be output to evaluate various kinematic arrangements, and to improve the trajectory plan for a known application. A base has been provided for mechanical design of links and for actuator sizing. Manipulator configuration drawn at each specified position may be studied to analyse the workspace and interaction with other elements. Calculations were verified by deriving inertia and gravity terms for a three degree of freedom articulated arm and comparing results. The methodology developed was applied to three six degree of freedom configurations, which are included as library solutions.
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  • File scanned at 300 ppi (Monochrome, 24-bit Color) using ScandAll PRO 1.8.1 on a Fi-6670 in PDF format. CVista PdfCompressor 4.0 was used for pdf compression and textual OCR.
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  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2013-07-10T16:12:06Z (GMT) No. of bitstreams: 1 VoraYounus1985.pdf: 3115159 bytes, checksum: e0f7ebfb5b5a7183cfb2baa1f9f6c6a5 (MD5)
  • description.provenance : Made available in DSpace on 2013-07-19T00:29:36Z (GMT). No. of bitstreams: 1 VoraYounus1985.pdf: 3115159 bytes, checksum: e0f7ebfb5b5a7183cfb2baa1f9f6c6a5 (MD5) Previous issue date: 1984-07-18
  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2013-07-19T00:29:36Z (GMT) No. of bitstreams: 1 VoraYounus1985.pdf: 3115159 bytes, checksum: e0f7ebfb5b5a7183cfb2baa1f9f6c6a5 (MD5)
  • description.provenance : Submitted by Katy Davis (kdscannerosu@gmail.com) on 2013-07-08T20:05:17Z No. of bitstreams: 1 VoraYounus1985.pdf: 3115159 bytes, checksum: e0f7ebfb5b5a7183cfb2baa1f9f6c6a5 (MD5)

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