Two-link Mobile Manipulator Model

Hroncová Darina^1, and Miková Ľubica¹

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

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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