Posture And Dynamics Research Of An Industrial Mechanical Arm

This thesis paper reports a research of industrial mechanical arm.It covers the present practical design for kinematics and dynamics modeling and computations.The kinematics model represents the movement of a robot without considering the forces that caused the movement.The dynamics model substantiates the relationship between the motion and the forces involved,taking into consideration the moment of inertia and the masses,which means it considers the masses,and inertias involved and relates the forces with the observed motion,or instead calculates the forces necessary to produce the required motion.This paper summarizes some basic research on the mechanical structural analysis and dynamics of an industrial mechanical arm.The research is addressing speed vs.accuracy.To improve the robot performance a mathematical model of the robot dynamics is desirable.To design,simulate,and control industrial robots,both kinematics and dynamics models are used.The kinematics model is a requirement for dynamics model and fundamental for practical aspects like motion planning,singularity and workspace analysis,and manufacturing cell graphical simulation.Majority of robot manufacturers offer graphical environment where users i.e.,developers and system integrators,can design and simulate their own manufacturing cell projects.To be able to control a robot manipulator as required by its operation,it is important to consider the kinematic model in design of the control algorithm.The kinematic descriptions of manipulators and their assigned tasks are utilized to set up the fundamental equations for dynamics and control.