IR @ Nirma University
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http://10.1.7.192:80/jspui/handle/123456789/2624| Title: | Simulation of Trajectories and Comparison of Joint Variables for Robotic Manipulator using Multibody Dynamics (MBD) |
| Authors: | Dave, Jatin Chauhan, Mihir |
| Keywords: | Joint Variable MBD Jacobian Joint Velocity Mechanical Faculty Paper Faculty Paper ITFME023 ITFME025 |
| Issue Date: | 4-Aug-2011 |
| Publisher: | Altair |
| Citation: | Hyperworks Technology Conference 2011 (HTC11), Altair Engineering Ltd. Pune, August 4 - 5, 2011, Page No. 80-86 |
| Series/Report no.: | ITFME023-2 |
| Abstract: | This paper deals with simulation of different manipulator for a given value of joint variable and comparing workspace generated by both manipulators. In this work, the analytical model is validated and simulated using Multibody Dynamics (MBD) of Hyperworks. The objective of paper is to analyze singularities and variation of joint variable for both configurations while moving around a specified path. The link velocity is computed for both configuration and it is compared with analytical model. The trajectory used for manipulator is same and coding is done for forward and inverse kinematics using MATLAB 6.5. |
| URI: | http://hdl.handle.net/123456789/2624 |
| Appears in Collections: | Faculty Paper, ME |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| ITFME023-2.pdf | ITFME023-2 | 1.34 MB | Adobe PDF |  View/Open |
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