RESEARCH PAPERS: Mechanisms Papers

Motion Simulation of an Articulated Robotic Arm Subjected to Static Forces

[+] Author and Article Information
A. G. Patwardhan, A. H. Soni

Oklahoma State University, Stillwater, Okla. 74074

J. Mech. Des 104(2), 494-503 (Apr 01, 1982) (10 pages) doi:10.1115/1.3256372 History: Received June 01, 1980; Online November 17, 2009


A three-dimensional motion simulation model of an open-loop kinematically constrained mechanical system is developed to simulate the motion response of a robotic arm to externally applied static loads. The general system consists of N rigid bodies connected together by (N-1) kinematic pairs. The class and type of kinematic pairs may be selected from a set of twelve physically realizable kinematic pairs. Six equations of force equilibrium are written for an ith body. A variational method is used to linearize these equations for incremental values of displacement and to incorporate the generalized parameters of the kinematic pairs and characteristics of the internal driving forces. Five applications of the proposed simulation model are discussed.

Copyright © 1982 by ASME
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