원문정보
보안공학연구지원센터(IJHIT)
International Journal of Hybrid Information Technology
Vol.8 No.8
2015.08
pp.133-142
피인용수 : 0건 (자료제공 : 네이버학술정보)
초록
영어
In this paper, in order to solve the question of the winding tracks affected by tension leading to pipeline performance degradation, we analyze the tension on the wound composite pipes and establish a winding model about six degrees of freedom robotic arm and find the solver of the kinematic equations. We designed a winding track and established on a MATLAB and ADAMS co-simulation platform. The winding track affected by the tension is simulated. According to the results, we can obtain the force of the joints of the robot. Taking these force data as the compensation of the joint force, the robot can do the desired track overcoming the winding tension.
목차
Abstract
1. Introduction
2. Analysis of Composite Pipe Winding Tension
3. Establishment of Six Degrees of Freedom Manipulator Kinematics Equations and Mathematical Models
3.1. Establishment the Mathematical Models
3.2. Kinematic Equation Solver
4. Design of Manipulator Simulation Model
5. Manipulator Model Simulation and Analysis
5.1. The Model Building
5.2. The End of the Robot Trajectory Planning
5.3. Simulation and Analysis
6. Conclusion
References
1. Introduction
2. Analysis of Composite Pipe Winding Tension
3. Establishment of Six Degrees of Freedom Manipulator Kinematics Equations and Mathematical Models
3.1. Establishment the Mathematical Models
3.2. Kinematic Equation Solver
4. Design of Manipulator Simulation Model
5. Manipulator Model Simulation and Analysis
5.1. The Model Building
5.2. The End of the Robot Trajectory Planning
5.3. Simulation and Analysis
6. Conclusion
References
저자정보
참고문헌
자료제공 : 네이버학술정보