Dynamic Simulation of Four-DOF Handling Robot under Different Driving Modes
Pages 182 - 185
Abstract
The working conditions of different driving modes can affect the speed and acceleration of the handling part of the handling robot. In this paper, the cylindrical coordinate four-degree-of-freedom handling robot was taken as the research object, and the dynamic model was established by the Lagrangian equation for the handling robot. In this paper, three driving modes of the handling robot were set up, and the dynamics simulation analysis was carried out in the Adams simulation software. The speed and acceleration of the grabbing position under the three conditions of low speed, normal and critical speed were studied. The results shown that the speed of the hand end of the robot was proportional to the speed required under different working conditions. The acceleration was proportional to the normal and low speed conditions, but under the critical condition, the acceleration has a "W" type change instead of Linear change. This result provides an effective experimental basis for the subsequent optimization design of such robot transmission rods.
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Index Terms
- Dynamic Simulation of Four-DOF Handling Robot under Different Driving Modes
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Published In
December 2018
365 pages
ISBN:9781450365703
DOI:10.1145/3305275
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- International Engineering and Technology Institute, Hong Kong: International Engineering and Technology Institute, Hong Kong
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 29 December 2018
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- Short-paper
- Research
- Refereed limited
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ISBDAI '18
ISBDAI '18: International Symposium on Big Data and Artificial Intelligence
December 29 - 30, 2018
Hong Kong, Hong Kong
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ISBDAI '18 Paper Acceptance Rate 70 of 340 submissions, 21%;
Overall Acceptance Rate 70 of 340 submissions, 21%
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