Propulsion Effect Analysis of 3R Robot Manipulator under Gravity

Authors

  • Ahmet Shala Faculty of Mechanical Engineering, University of Prishtina, Prishtina, Kosovo, Author
  • Ramë Likaj Faculty of Mechanical Engineering, University of Prishtina, Prishtina, Kosovo Author
  • Mirlind Bruqi Faculty of Mechanical Engineering, University of Prishtina, Prishtina, Kosovo Author

Keywords:

Modeling, Control, Kinematics, Dynamics, Robot, Propulsion.

Abstract

Modeling, Analysis and Control of robotic systems commonly first requires Dynamical Modeling. In this paper are used
Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler formulations for dynamic modeling of 3R (3
revolute joints) robot with 3 degree of freedom. Dynamical model is derived using Software Maple. Simulations are done
using Matlab/Simulink for analysis of propulsion effect under gravity where Link 1 rotates with 1000 rpm, Link 2 can
move free in vertical direction and Link 3 can rotates free around their rotation axle. Simulations results shows very
good propulsion of proposed 3R robot. Results are verified-compared with constructed model of 3R robot using Working
Model 3D Software.

References

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Published

2013-08-31

Issue

Vol.3, No.3 (Jul/Aug 2013)

Section

Articles

How to Cite

Propulsion Effect Analysis of 3R Robot Manipulator under Gravity. (2013). International Journal of Current Engineering and Technology, 3(3), 850-855. https://ijcet.evegenis.org/index.php/ijcet/article/view/1312