American Journal of Mechanical Engineering
ISSN (Print): 2328-4102 ISSN (Online): 2328-4110 Website: http://www.sciepub.com/journal/ajme Editor-in-chief: Kambiz Ebrahimi, Dr. SRINIVASA VENKATESHAPPA CHIKKOL
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American Journal of Mechanical Engineering. 2013, 1(7), 365-369
DOI: 10.12691/ajme-1-7-42
Open AccessArticle

Dynamic Analysis of Manipulator Arm for 6-legged Robot

Ivan Virgala1, , František Šimčák1 and Zdenko Bobovský2

1Department of applied mechanics and mechatronics, Technical University of Košice / Faculty of mechanical engineering, Košice, Slovakia

2Department of Robotics, Technical University of Ostrava / Faculty of mechanical engineering, Ostrava, Czech Republic

Pub. Date: November 12, 2013

Cite this paper:
Ivan Virgala, František Šimčák and Zdenko Bobovský. Dynamic Analysis of Manipulator Arm for 6-legged Robot. American Journal of Mechanical Engineering. 2013; 1(7):365-369. doi: 10.12691/ajme-1-7-42

Abstract

The paper deals with dynamic analysis of manipulator arm which is part of 6-legged robot. The robot is designed for search and rescue purposes like searching for survivors after building collapse or earthquake. The manipulator arm has tentacle as end-effector which serves for grasping and transfer of ruins. The aim of the paper is investigation of particular dynamic reactions in certain nodes of the manipulator links in order to optimization purposes. The results of simulations then can be used for FEM analysis. For dynamic analysis software SolidWorks and Matlab / SimMechanics are used.

Keywords:
dynamics kinematics manipulator arm robot

Creative CommonsThis work is licensed under a Creative Commons Attribution 4.0 International License. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

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References:

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[3]  Spong, M. W., Hutchinson, S., Vidyasagar, M., Robot Modeling and Control, John Wiley & Sons, INC 2005.
 
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[5]  Kordjazi, H., Akbarzadeh, A., Inverse dynamics of a 3-prismatic-revolute-revolure planar parallel manipulator using natural orthogonal complement, Journal of Systems and Control Engineering, Vol. 225, 2010.