Dynamic Analysis of Manipulator Arm for 6-legged Robot

Ivan Virgala; Franti?ek ?im?ák; Zdenko Bobovsky

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Dynamic Analysis of Manipulator Arm for 6-legged Robot

机译：六足机器人机械臂动力学分析

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The paper deals with dynamic analysis of manipulator arm which is part of 6-legged robot. The robot is designed for search and rescue purposes like searching for survivors after building collapse or earthquake. The manipulator arm has tentacle as end-effector which serves for grasping and transfer of ruins. The aim of the paper is investigation of particular dynamic reactions in certain nodes of the manipulator links in order to optimization purposes. The results of simulations then can be used for FEM analysis. For dynamic analysis software SolidWorks and Matlab / SimMechanics are used.

机译：本文对六足机器人的机械臂进行了动力学分析。该机器人设计用于搜索和救援目的，例如在建筑物倒塌或地震后搜索幸存者。机械臂的触手为末端执行器，用于抓住和转移遗迹。本文的目的是研究机械手链接的某些节点中的特定动态反应，以达到优化目的。然后将模拟结果用于有限元分析。对于动态分析软件，使用SolidWorks和Matlab / SimMechanics。

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《American Journal of Mechanical Engineering》 |2013年第7期|共5页
作者
Ivan Virgala; Franti?ek ?im?ák; Zdenko Bobovsky;
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中图分类机械、仪表工业;
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Dynamic Analysis of Manipulator Arm for 6-legged Robot

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