Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK

Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK

Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling...

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Main Authors: Fernini, Brahim, Temmar, Mustapha, Kai, Yoshihiro, M. M., Noor
Format: Article
Language:English
Published: Lodz University of Technology 2018
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://umpir.ump.edu.my/id/eprint/25900/
http://umpir.ump.edu.my/id/eprint/25900/
http://umpir.ump.edu.my/id/eprint/25900/1/Modelling%20Robot%20Actuated.pdf
id ump-25900
recordtype eprints
spelling ump-259002019-09-23T06:25:32Z http://umpir.ump.edu.my/id/eprint/25900/ Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK Fernini, Brahim Temmar, Mustapha Kai, Yoshihiro M. M., Noor TJ Mechanical engineering and machinery Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014). Lodz University of Technology 2018 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/25900/1/Modelling%20Robot%20Actuated.pdf Fernini, Brahim and Temmar, Mustapha and Kai, Yoshihiro and M. M., Noor (2018) Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK. Mechanics and Mechanical Engineering, 22 (4). pp. 1497-1510. ISSN 1428-1511 http://www.kdm.p.lodz.pl/articles/2018/4/22-4-54_Fernini.pdf
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Fernini, Brahim
Temmar, Mustapha
Kai, Yoshihiro
M. M., Noor
Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK
description Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).
format Article
author Fernini, Brahim
Temmar, Mustapha
Kai, Yoshihiro
M. M., Noor
author_facet Fernini, Brahim
Temmar, Mustapha
Kai, Yoshihiro
M. M., Noor
author_sort Fernini, Brahim
title Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK
title_short Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK
title_full Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK
title_fullStr Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK
title_full_unstemmed Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK
title_sort verification of the dynamic modeling of 2-r robot actuated by (n) equally spaced planet-gears by using solidworks and matlab/simulink
publisher Lodz University of Technology
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/25900/
http://umpir.ump.edu.my/id/eprint/25900/
http://umpir.ump.edu.my/id/eprint/25900/1/Modelling%20Robot%20Actuated.pdf
first_indexed 2023-09-18T22:40:01Z
last_indexed 2023-09-18T22:40:01Z
_version_ 1777416851838468096

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