MULTIBODY SYSTEMS AND SIMULATION IN MATLAB
Hroncová Darina , Technical University of Košice (Letna 9, 04200 Košice, Slovak Republic)
Urgency of the research. Computer modeling changes the teaching methodology, the way of thinking and the possibilities of applications. It helps to move from external to internal properties and from individual to related properties. The development of the product is accelerated by experimenting with a computer model.
Target setting. Kinematic analysis in Matlab and MSC Adams View. The aim is to investigate the rotation of individual members of the robotic system and to determine the spatial movement of the end effector.
Actual scientific researches and issues analysis. MSC Adams represents dynamic simulators of virtual prototypes of mechanical systems. Virtual prototypes allow to model, analyze and optimize the future products and to examine their properties before building a real prototype. This approach is suitable for developing miniature mechatronic elements as well as complex systems.
Uninvestigated parts of general matters defining. Virtual prototypes represent a suitable resource for testing of control and regulation procedures.
The research objective. Compilation of a virtual prototype of a mechanical system that has all the decisive features and is computationally stable.
The statement of basic materials. Virtual model is a mathematical representation of real-world structures, simulating all its physical properties virtually.
Conclusions. The aim was to determine the kinematic properties and also to evaluate the influence of the parameters of the mechanism which influence these kinematic properties. The matrix method was used. The process of the solution consisted of determining the transformation matrices of the coordinate systems, the kinematic analysis of the industrial robot and the graphical representation of the effector handling space.
virtual model; open kinematic chain; robotic system; software simulation; end-effector; transformation matrices.
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