КІНЕМАТИЧНИЙ АНАЛІЗ МАНІПУЛЯТОРА
DOI:
https://doi.org/10.30890/2567-5273.2023-30-00-039Ключові слова:
маніпулятор, кінематика, матриця перетворень координатАнотація
У статті наведено результати кінематичного аналізу маніпулятора методом Денавіта – Хартенберга. Структурна схема маніпулятора містить п’ять ланок поєднаних ротаційними кінематичними парами п’ятого класу. Кінематичний аналіз та математичне моделювання рухіMetrics
Посилання
Mostýn V., Huczala D., Moczulski W. A. Dimensional optimization of the robotic arm to reduce energy consumption. MM Science Journal. 2020. No. 1. P. 3745–3753. DOI: 10.17973/MMSJ.2020_03_2020001.
Huczala D., Pfurner M., Mostýn V. Initial estimation of kinematic structure of a robotic manipulator as an input for Its synthesis. Applied Sciences. 2021. No. 11(8). DOI: 10.3390/app11083548.
Lee F.-H., Hsu K.-L. A synthesis method of spatial over-constrained mechanisms based on kinematics of serial manipulators. Robotica. 2022. No. 40(12). P. 1-25. DOI: 10.1017/S0263574722000868
Asif S., Webb P. Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist. Mathematical Problems in Engineering. 2021. No. 4. DOI: 10.1155/2021/6647035
Diaz C. P., Palomares R. J., Alva J. and Cornejo J. Mechatronics design and robotic simulation of serial manipulators to perform automation tasks in the avocado Industry. International Journal of Advanced Computer Science and Applications. 2023. No. 14(8). DOI: 10.14569/IJACSA.2023.0140856
Jangid M. K., Kumar S., Singh J. Inverse kinematics solutions of a newly designed three-link robotic manipulator for the casting process using the ant lion optimizer. The International Journal of Advanced Technology and Engineering Exploration. 2023. No. 9. P. 1704–1717. DOI: 10.19101/IJATEE.2021.876125
Huczala D., Kot T., Pfurner M. and Bobovský Z. Multirepresentations and Multiconstraints approach to the numerical synthesis of serial kinematic structures of manipulators. IEEE Access. 2022. No. 10. P. 68937-68951. DOI: 10.1109/ACCESS. 2022.3186098.
Thomas M.J., Sanjeev M.M., Joy M.L. Comparative study of various machine learning algorithms and Denavit–Hartenberg approach for the inverse kinematic solutions in a 3- PP SS parallel manipulator. Industrial Robot the international journal of robotics research and application. 2020. DOI: 10.1108/IR-11-2019-0233
Dawood H., Hamzah M., Bakhy S. H. Kinematics analysis and implementation of three degrees of freedom robotic arm by using MATLAB. The Iraqi Journal for Mechanical and Materials Engineering. 2021. No. 21(2). P. 118-129. DOI: 10.32852/iqjfmme.v21i2.547
Nguyen Q.T., Phan T.V., Vo D.-T. and other. Kinematics, dynamics and control design for a 4-DOF robotic manipulator. Conference: 2021 International Conference on System Science and Engineering (ICSSE).. Ho Chi Minh City, Vietnam, August 2021, P. 138-144. DOI: 10.1109/ICSSE52999.2021.9538418.
Šegota S. B., Lorencin I., Car Z. and other. Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms. International Journal of Advanced Robotic Systems. 2020. No. 17(2). P. 1-16. DOI: 10.1177/1729881420908076.
Ащепкова Н. С. Метод кинематического и динамического анализа манипулятора с использованием Mathcad. Восточно-Европейский журнал передовых технологий. 2015. № 5/7(77). С. 54–63. DOI: 10.15587/1729-4061.2015.51105.
References
Mostýn V., Huczala D., Moczulski W. A. Dimensional optimization of the robotic arm to reduce energy consumption. MM Science Journal. 2020. No. 1. P. 3745–3753. DOI: 10.17973/MMSJ.2020_03_2020001.
Huczala D., Pfurner M., Mostýn V. Initial estimation of kinematic structure of a robotic manipulator as an input for Its synthesis. Applied Sciences. 2021. No. 11(8). DOI: 10.3390/app11083548.
Lee F.-H., Hsu K.-L. A synthesis method of spatial over-constrained mechanisms based on kinematics of serial manipulators. Robotica. 2022. No. 40(12). P. 1-25. DOI: 10.1017/S0263574722000868
Asif S., Webb P. Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist. Mathematical Problems in Engineering. 2021. No. 4. DOI: 10.1155/2021/6647035
Diaz C. P., Palomares R. J., Alva J. and Cornejo J. Mechatronics design and robotic simulation of serial manipulators to perform automation tasks in the avocado Industry. International Journal of Advanced Computer Science and Applications. 2023. No. 14(8). DOI: 10.14569/IJACSA.2023.0140856
Jangid M. K., Kumar S., Singh J. Inverse kinematics solutions of a newly designed three-link robotic manipulator for the casting process using the ant lion optimizer. The International Journal of Advanced Technology and Engineering Exploration. 2023. No. 9. P. 1704–1717. DOI: 10.19101/IJATEE.2021.876125
Huczala D., Kot T., Pfurner M. and Bobovský Z. Multirepresentations and Multiconstraints approach to the numerical synthesis of serial kinematic structures of manipulators. IEEE Access. 2022. No. 10. P. 68937-68951. DOI: 10.1109/ACCESS. 2022.3186098.
Thomas M.J., Sanjeev M.M., Joy M.L. Comparative study of various machine learning algorithms and Denavit–Hartenberg approach for the inverse kinematic solutions in a 3- PP SS parallel manipulator. Industrial Robot the international journal of robotics research and application. 2020. DOI: 10.1108/IR-11-2019-0233
Dawood H., Hamzah M., Bakhy S. H. Kinematics analysis and implementation of three degrees of freedom robotic arm by using MATLAB. The Iraqi Journal for Mechanical and Materials Engineering. 2021. No. 21(2). P. 118-129. DOI: 10.32852/iqjfmme.v21i2.547
Nguyen Q.T., Phan T.V., Vo D.-T. and other. Kinematics, dynamics and control design for a 4-DOF robotic manipulator. Conference: 2021 International Conference on System Science and Engineering (ICSSE).. Ho Chi Minh City, Vietnam, August 2021, P. 138-144. DOI: 10.1109/ICSSE52999.2021.9538418.
Šegota S. B., Lorencin I., Car Z. and other. Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms. International Journal of Advanced Robotic Systems. 2020. No. 17(2). P. 1-16. DOI: 10.1177/1729881420908076
Ashhepkova N.S. Mathcad in the kinematic and dynamic analysis of the manipulator. Eastern European Journal of Enterprise Technologies. 2015. № 5/7(77). С. 54–63. DOI: 10.15587/1729-4061.2015.51105.
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