Verification of the dynamic modeling of 2-R robot actuated by (N) equally spaced planet-gears by using SolidWorks and MATLAB/SIMULINK

• Autorzy: Fernini B. , Temmar M. , Kai Y. , Noor M. M.
• Języki publikacji: EN

Abstrakty

EN

Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).

Słowa kluczowe

EN

(n) equally spaced Planet-Gears; kinetic energy; joint torque

PL

przekładnia planetarna; energia kinetyczna; moment obrotowy przegubu

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2018
• Tom: Vol. 22, nr 4
• Strony: 1497--1510
• Opis fizyczny: Bibliogr. 34 poz., 1 il. kolor., rys., wykr.

Twórcy

autor

Fernini B.

• University Center of Tissemsilt, Laboratory of Structures Blida1 University, Algeria

autor

Temmar M.

• University Center of Tissemsilt, Laboratory of Structures Blida1 University, Algeria

autor

Kai Y.

• Department of Mechanical Engineering, Tokai University, Hiratsuka, Kanagawa 259-1292, Japan

autor

Noor M. M.

• Faculty of Mechanical Engineering, Universiti Malaysia Pahang (UMP), Malaysia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).