Dynamic simulation for a three-arm robot on orbit

Jinying Huang; Weimin Du; Hui Li; Zhihong Jiang; Huan Yang

doi:10.3969/j.issn.1004-132X.2016.03.008

Dynamic simulation for a three-arm robot on orbit

Jinying Huang
, Weimin Du
, Hui Li
, Zhihong Jiang
, Huan Yang

School of Mechatronical Engineering

Beijing Institute of Technology
North University of China
Henan Branch of Air Traffic Control of Civil Aviation of China

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

A simplified robot model with three arms was designed according to the needs of space operations. The coordinate transformation matrix was established based on the D-H method and the kinematic equations of the robot were derived. Based on ADAMS virtual prototyping technology, the climbing process of the robot on a pole was simulated for three kinds of gravity, respectively. The force curves and effect factors were obtained so as to offer the design references for the robot.

Original language	English
Pages (from-to)	328-333
Number of pages	6
Journal	Zhongguo Jixie Gongcheng/China Mechanical Engineering
Volume	27
Issue number	3
DOIs	https://doi.org/10.3969/j.issn.1004-132X.2016.03.008
Publication status	Published - 10 Feb 2016

Keywords

Clamping force
On orbit
Robot
Simulation

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10.3969/j.issn.1004-132X.2016.03.008

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abstract = "A simplified robot model with three arms was designed according to the needs of space operations. The coordinate transformation matrix was established based on the D-H method and the kinematic equations of the robot were derived. Based on ADAMS virtual prototyping technology, the climbing process of the robot on a pole was simulated for three kinds of gravity, respectively. The force curves and effect factors were obtained so as to offer the design references for the robot.",

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AU - Huang, Jinying

AU - Du, Weimin

AU - Li, Hui

AU - Jiang, Zhihong

AU - Yang, Huan

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Y1 - 2016/2/10

N2 - A simplified robot model with three arms was designed according to the needs of space operations. The coordinate transformation matrix was established based on the D-H method and the kinematic equations of the robot were derived. Based on ADAMS virtual prototyping technology, the climbing process of the robot on a pole was simulated for three kinds of gravity, respectively. The force curves and effect factors were obtained so as to offer the design references for the robot.

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KW - Clamping force

KW - On orbit

KW - Robot

KW - Simulation

UR - https://www.scopus.com/pages/publications/84960914848

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ER -

Dynamic simulation for a three-arm robot on orbit

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Keywords

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