D107 数式処理技術を用いたロボットアームのモデル構築とシステムシミュレーション(OS15 機械・制御系設計と1D-CAE 2)

概要

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The recent increases of the demand of simulation technologies for robot system with multi-body dynamics have attracted various research efforts. To speed up the design and prototyping processes of robot system, a method that automatically generates mathematics equations governing the robot system response in an optimized symbolic form is desirable. To achieve this goal, we employed MapleSim^<TM>, a new physical modeling tool developed by Maplesoft Inc., to develop the multi-domain model of a parallel link robot arm, utilizing the symbolic computing algorithms of Maple software package to generate an optimized set of governing equations. The robot arm model consists of a multi-body arm dynamics, a power electronics and a control model. Simulations are then used to demonstrate the performance of the developed parallel-link robot. Simulation results show that the model is viable and the number of governing equations is reduced significantly, resulting in a computationally efficient system.
2011-06-28