The Automatic Mechanism Simulation of Multi-Axes Robot Arms
| Autor: | NGUYEN TRI KHIEM, 阮智謙 |
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| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 The development of an intelligent graphical user-interface system for the mechanism design and analysis is of great importance. This study develops an approach to represent the action of mechanism system by integrating computer aided engineering and virtual reality techniques. This research studies the movement of a Lynx 5 robot arm by forward and backward kinematics. This robot arm has 5 rotation DOF’s. In forward approach,the angles of each axis are input and the resulting position of robot arms is simulated. For backward problem,the coordinate of target position is input and the resulting angles are calculated and the robot arm position is replicated. A C programming language is developed in this study to calculate the forward and backward kinematics. This program calls the functions in the Pro/Toolkit environment and the visualization of the results is presented by using Pro/Engineer computer aided engineering package. Results show the control of the robot arms can be greatly simplified and the mechanism can be analyzed. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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