UMP Institutional Repository

Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK

Fernini, Brahim and Temmar, Mustapha and Kai, Yoshihiro and M. M., Noor (2018) Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK. Mechanics and Mechanical Engineering, 22 (4). pp. 1497-1510. ISSN 1428-1511

[img]
Preview
Pdf
Modelling Robot Actuated.pdf

Download (397kB) | Preview

Abstract

Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).

Item Type: Article
Uncontrolled Keywords: equally spaced Planet-Gears, kinetic energy, joint torque
Subjects: T Technology > TJ Mechanical engineering and machinery
Faculty/Division: Faculty of Mechanical Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 23 Sep 2019 06:25
Last Modified: 23 Sep 2019 06:25
URI: http://umpir.ump.edu.my/id/eprint/25900
Download Statistic: View Download Statistics

Actions (login required)

View Item View Item