Research on Simulation of the Robot : 1st Report, Numerical Analysis of Displacement, Velocity and Acceleration
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概要
- 論文の詳細を見る
Displacement, velocity and acceleration of a mechanism of an arbitrary type are analyzed numerically in order to simulate motion of an articulated robot. Uicker's method of analysis, based on the matrix algebra for a link mechanism of a closed loop, is extended to mechanisms of an opened loop and compound loops. How to judge a singular point of motion is explained. On each step of the iterative calculation for convergence by the Newton-Raphson method, a method is proposed to correct the angular displacement of the pairs. It is made clear that the proposed method of correction realizes the analysis with rapid convergence and high accuracy.
- 社団法人日本機械学会の論文
著者
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Nagamatsu Akio
Faculty Of Engineering Tokyo Institute Of Technology
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Nagamatsu Akio
Faculty O F Engineering Tokyo Institute Of Technology
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SAITO Takashi
Faculty of Engineering, Tokyo Institute of Technology
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ICHIYANAGI Takashi
Research Institute e of Industrial Technology, Matsushita Electric Industrial Co., Ltd.
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Saito Takashi
Faculty Of Engineering Kyushu Institute Of Technology
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Ichiyanagi Takashi
Research Institute E Of Industrial Technology Matsushita Electric Industrial Co. Ltd.
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Saito Takashi
Faculty Of Agriculture Yamagata University
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