Multidisciplinary parametric design and evaluation of six degrees of freedom mechanical arm

For the analysis of six degrees of freedom mechanical arm control error sources and the evaluation of mechanical arm positioning precision grade, a multidisciplinary parameterization design method is put forward. Based on the dynamic analysis software RecurDyn, a six degrees of freedom mechanical ar...

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Bibliographic Details
Main Authors: Jiang Zhi-Xin, Tang Li, Zhang Zhi-Xiong, Ge Zhe-Xue, Liu Wei-Bo
Format: Conference Proceeding
Language:English
Subjects:
Combine simulation
Integrated circuit modeling
Joints
Mathematical model
Matlab/Simulink
Multidisciplinary parameterization
Pulse width modulation
Software packages
Trajectory
Online Access:Request full text
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Summary:For the analysis of six degrees of freedom mechanical arm control error sources and the evaluation of mechanical arm positioning precision grade, a multidisciplinary parameterization design method is put forward. Based on the dynamic analysis software RecurDyn, a six degrees of freedom mechanical arm system virtual prototype is built; Based on Matlab/Simulink, the six degrees of freedom mechanical arm control system has been modeled; With the established virtual prototype and the simulation of control system, the control results and the theoretical results are compared to evaluate the distribution of control errors. In the result, the efficiency of control system design is improved, and the control precision of the control system is verified.
ISSN:2166-563X
2166-5656
DOI:10.1109/PHM.2014.6988199