Dynamics And Simulation Analysis Of Dual-3R Manipulators

This paper has carried on the preliminary research and discussion mainly forunder-actuated double arms, determine the basic configuration of the double3R manipulatorsand the installation of the motors, and the main further research is about the mechanismkinematics and dynamics modeling, at last, by using software MATLAB and ADAMS tofinish the simulation analysis, which has laid the important foundation for the after controlresearch.Firstly, the position and orientation of3R manipulator have been researched, andsummarize up the position and orientation of series manipulators; the number of degrees offreedom of the mechanism and its properties are analyzed, and determine the number ofmotors and its installation, determined dual arms tight coordination task type, solved thevelocity and acceleration equations, which provides the theoretical foundation for subsequentdynamics research.Secondly, determine the moment of inertia of each bar; solve the kinetic energy of eachbar, and using the differential method on the basis of before, using Lagrange equation to builddynamics models, so each active joint torque input expressions, then analysis thecharacteristics of system of the dual3R mechanism.Finally, under the condition of setting the length of each bar and its initial position, usingthe MATLAB software to draw bar at the end of the position and velocity with therelationship between the system inputs; using the ADAMS software it is concluded thatrelationship between the input torques and speed and acceleration curves, and do thecomprehensive analysis.