Synthesis of robot manipulators with specified properties

Voynov, I. V.; Telegin, A. I.; Timofeev, D. N.

doi:10.1109/icieam.2017.8076203

Cited by 1 publication

(2 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Эффективная реализация технических задач при использовании РПП параллельной структуры в различных областях послужила толчком для множества исследований, направленных на сохранение преимуществ при снижении или нивелировании недостатков этих механизмов [2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]. Можно выделить следующие основные задачи, решаемые исследователями в этой области:…”

unclassified

See 1 more Smart Citation

Evaluation of Kinematic and Dynamic Parameters of the Hough-Steuart Platform Using a Virtual Prototype

Duyun

Kornilov

Duyun

2022

Bulletin of Belgorod State Technological University Named After. V. G. Shukhov

View full text Add to dashboard Cite

The article presents a technique for modeling the operation of the parallel structure mechanism - the Hugh-Stewart robotic platform using a virtual prototype. The MSC Adams software package and the high-level general-purpose object-oriented programming language Python were used as modeling tools. The digital layout, which has the properties of a parameterized simulation model, is built in the MSC Adams software package. The Python programming language is used as an alternative to the Adams View internal command language for creating and iteratively modifying modeling objects in Adams. The proposed implementation of the Python-Adams interface in the form of special procedures and functions automates the execution of a computational experiment and allows solving the problem of optimizing structural elements and finding the optimal geometric design of the hexapod in accordance with the selected optimality criteria by conducting a series of experiments consisting in sequential multiple changes in geometric parameters, followed by simulation model and analysis of the results in order to find design options that meet the specified criteria. The technique was tested on the example of optimizing the diameter of the platform according to the criterion of minimizing the effort expended when moving along a given trajectory. The results of a computational experiment are also presented to determine the dynamic parameters (forces, moments of forces) in the structural elements when the platform moves along a complex trajectory, to identify undesirable positions in which peak loads occur.

show abstract

unclassified

“…-кинематический, динамический и силовой анализ механизма, разработка алгоритмов определения множества достижимых положений платформы при формировании ее рабочей зоны [14][15][16][17][18].…”

unclassified

Evaluation of Kinematic and Dynamic Parameters of the Hough-Steuart Platform Using a Virtual Prototype

Duyun

Kornilov

Duyun

2022

Bulletin of Belgorod State Technological University Named After. V. G. Shukhov

View full text Add to dashboard Cite

show abstract

Synthesis of robot manipulators with specified properties

Cited by 1 publication

References 16 publications

Evaluation of Kinematic and Dynamic Parameters of the Hough-Steuart Platform Using a Virtual Prototype

Evaluation of Kinematic and Dynamic Parameters of the Hough-Steuart Platform Using a Virtual Prototype

Contact Info

Product

Resources

About