Article Title

Dynamic Modeling and Analysis of Propulsion effect of 3 DoF robot

Authors

Ahmet Shala, University for Business and TechnologyFollow
Xhevahir Bajrami, Vienna University of TechnologyFollow

Keywords

Kinematics, dynamics, robot, propulsion

Abstract

Dynamical Modeling of robots is commonly first important step of Modeling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton- Euler Formulations for dynamic modeling of 3 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Simulations are done using Matlab/Simulink for analysis of propulsion effect under Earth gravity when First Link rotates with 1000 rpm, second Link can move free in vertical direction and Third Link can rotates free around their rotations axle. Simulations results shows very good propulsion of proposed 3 DoF robot. Results are verified-compared with constructed model of 3 DoF robot using Working Model 3D Software.

DOI

10.33107/ijbte.2013.1.2.03

First Page

30

Last Page

38

Recommended Citation

Shala, Ahmet and Bajrami, Xhevahir (2013) "Dynamic Modeling and Analysis of Propulsion effect of 3 DoF robot," International Journal of Business and Technology: Vol. 1: Iss. 2, Article 3.
DOI: 10.33107/ijbte.2013.1.2.03
Available at: https://knowledgecenter.ubt-uni.net/ijbte/vol1/iss2/3