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. 2017, 5(6), 355-361
DOI: 10.12691/ajme-5-6-25
Open AccessArticle

Two-link Mobile Manipulator Model

Hroncová Darina1, and Miková Ľubica1

1Department of Mechatronics, Technical University of Kosice, Faculty of Mechanical Engineering, Kosice, Slovakia

Pub. Date: December 15, 2017

Cite this paper:
Hroncová Darina and Miková Ľubica. Two-link Mobile Manipulator Model. American Journal of Mechanical Engineering. 2017; 5(6):355-361. doi: 10.12691/ajme-5-6-25

Abstract

We present a kinematic analysis and computer simulation of a two-link mobile manipulator model. Mobility of the manipulator is achieved by an undercarriage. Its work space is defined by the upper part consisting of two rotationally connected arms attached to the carriage by a rotational bonding. The model is created and the simulation is carried out in MSC Adams. As a result of the analysis are the moments in the individual kinematic pairs at the given movement of the carriage of the mobile manipulator.

Keywords:
manipulator modeling links joint angle end-effector position velocity simulation

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