Kinematic and Dynamic Analysis of 3-DOF Rotary Table Manipulator
3-DOF Rotary Table manipulator is a robotic mechanism which brings about spatial rotational movements. This mechanism helps to make a movement scenario in order to test Guidance and Navigation Systems of moving vehicles. It has complicated dynamic equations which are crucial for control objectives. In this paper, we study applicable kinematics of this manipulator. Afterward, we choose the best kinematics and try to get the dynamic equations by applying the Newtons Second Law for Rotation. We use the Newtons Second Law instead of using common methods in robotic modeling such as Denavit-Hartenberg and Newton-Euler methods. We have extracted full dynamic equations that contain all designing parameters such as Moment of Inertia factor in all round and even the unbalanced and wobble effect. Finally we have verified obtained equations by simulation.
3-DOF Rotary Table Manipulator Gimbal Unit under Test Dynamic Equations
Masoud Dorosti Jafar Heyrani Nobari
Digital and Nonlinear Control Systems Lab, Electrical Engineering Department,K. N. Toosi University of Technology, Tehran, Iran
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
5745-5750
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）