Kinematic and dynamic analysis and distribution of stress for six-item mechanism by means of the SolidWorks program

Abstract

This paper presents a kinematic and dynamic analysis and distribution of the stress for six-item planar mechanism by means of the SolidWorks software. The main purpose of the investigation is connected with the kinematic analysis of planar mechanisms as well as with the implementation of the vector method into the SolidWorks software program in order to determine the kinematic variables of the individual bodies in the whole investigated system. The process of the dynamic analysis is based on the kinematic analysis. The dynamic analysis makes possible to design a system of bodies correctly and it is with the respect to the dynamic loading. For the interpretation of the introduced analysis, the six-item planar mechanism was used as example (representative). Graphic dependence of kinematic and dynamic magnitudes of some points is given in dependence on the angle of rotation of the driving item and in dependence on time. In relation to the kinematic and dynamic analysis and subsequent simulation of the planar as well as spatial mechanisms, it is great solution to use SolidWorks software program. The considerable advantage of this mentioned program is based on its simplicity from the aspect of modeling and moreover, it is important to point out that utilisation of the mentioned program leads to results which are precise and accurate in the case of the numerical solution of the equations in the whole magnitude referring to motion of mechanism while the given results are obtained in the graphic form.

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

“…Many challenges arise from advanced dual-arm tunneling robotic systems for coal mines, among which the accurate motion control of the DACR is a crucial issue. Some researchers have discussed kinematics models [4][5][6][7] and control strategies [8][9][10][11][12] for dual-arm robots. Lee et al [13] transformed the inverse kinematics problem of the robots into a mathematical optimization problem to replace traditional numerical methods, such as the Jacobian matrix.…”