Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist
نویسندگان
چکیده
The aim of the paper is to study kinematics manipulator. articulated robot with a spherical wrist has been used for this purpose. Comau NM45 Manipulator chosen kinematic model study. manipulator contains six revolution joints. Pieper’s approach employed (inverse) Using approach, inverse problem divided into two small less complex problems. This reduces time analysing kinematically. forward and performed, mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. solution verified by solving manipulator’s motion. It observed that accurate as motion trajectory was smoothly followed
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2021
ISSN: ['1026-7077', '1563-5147', '1024-123X']
DOI: https://doi.org/10.1155/2021/6647035