Email this article Mathematical model of dynamics of highly nonlinear guided mechanical system
- Authors: Bozhkova L.V1, Noritsina G.I1, Ryabov V.G1, Akulshina T.V1
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Affiliations:
- Moscow State University of Mechanical Engineering (MAMI)
- Issue: Vol 7, No 3-1 (2013)
- Pages: 30-39
- Section: Articles
- URL: https://journals.rcsi.science/2074-0530/article/view/67976
- DOI: https://doi.org/10.17816/2074-0530-67976
- ID: 67976
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Abstract
The authors developed a mathematical model of the dynamics of highly nonlinear guided mechanical system on the example of an industrial robot of the “SKILAM” type taking into account dry friction in the kinematic pairs of the robot arms and the dynamic characteristics of the motors. The solution is based on the principles of d'Alembert and D'Alembert-Lagrange. At the same time an apparatus of homogeneous coordinate transformation matrices was used.
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##article.viewOnOriginalSite##About the authors
L. V Bozhkova
Moscow State University of Mechanical Engineering (MAMI)
Email: tm@mami.ru
Dr. Eng., Prof.; +7 (495) 223-05-23
G. I Noritsina
Moscow State University of Mechanical Engineering (MAMI)
Email: tm@mami.ru
Ph.D.; +7 (495) 223-05-23
V. G Ryabov
Moscow State University of Mechanical Engineering (MAMI)
Email: tm@mami.ru
Ph.D., Prof.; +7 (495) 223-05-23
T. V Akulshina
Moscow State University of Mechanical Engineering (MAMI)
Email: tm@mami.ru
+7 (495) 223-05-23
References
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- Божкова Л.В., Вартанов М.В. Автоматизация сборки изделий машиностроения с применением промышленных роботов и виброустройств. М.: Университет машиностроения, 2013, 318 с.
- Божкова Л.В., Вартанов и др. Анализ точности отработки роботом заданных траекторий на основании его динамических моделей. М.: Техника машиностроения, 2002, № 2, с. 84-90.
