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Virgala, I., Frankovský, P., Kenderová, M., “Friction Effect Analysis of a DC Motor,” In: American Journal of Mechanical Engineering, Vol. 1, No. 1, p. 1-5, 2013.

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Article

Two-link Mobile Manipulator Model

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


American Journal of Mechanical Engineering. 2017, Vol. 5 No. 6, 355-361
DOI: 10.12691/ajme-5-6-25
Copyright © 2017 Science and Education Publishing

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

Correspondence to: Hroncová  Darina, Department of Mechatronics, Technical University of Kosice, Faculty of Mechanical Engineering, Kosice, Slovakia. Email: darina.hroncova@tuke.sk

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.

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