Multi-body Dynamics for Robot Arm
Multi-body Dynamics for Robot Arm
Project done in ME543 in University of Michigan.
We built a mathematical model in Matlab to simulate actual rigid body movement.
The first link is attached to a stationary ground base.
In the initial configuration, the robot is pointing straight down, with the rotational joints either aligned along the positive 3-axis ), or the positive 1-axis.
The ground reference frame is located where the first link of the robot is connected to the ground. For simplicity, we assume that the center of gravity of each link is located at the center between the joint coordinate systems. I.e., in the initial configuration, all COGs are aligned along a straight line.
2015
We studied the kinematics and dynamics of the three segment robotic arm that was presented.
This very simulation shows if the robot arm is only constrained with gravity and one pin joint, what will happen if an external impulse is applied to the system.