Multidisciplinary parametric design and evaluation of six degrees of freedom mechanical arm

Jiang Zhi-Xin, Tang Li, Zhang Zhi-Xiong, Ge Zhe-Xue, Liu Wei-Bo, Prognostics and System Health Management Conference (PHM-2014 Hunan), Zhangiiaijie, August 2014, pp. 383-386.

Abstract

For the analysis of six degrees of freedom mechanical arm control error sources and the evaluation of mechanical arm positioning precision grade, a multidisciplinary parameterization design method is put forward. Based on the dynamic analysis software RecurDyn, a six degrees of freedom mechanical arm system virtual prototype is built; Based on Matlab/Simulink, the six degrees of freedom mechanical arm control system has been modeled; With the established virtual prototype and the simulation of control system, the control results and the theoretical results are compared to evaluate the distribution of control errors. In the result, the efficiency of control system design is improved, and the control precision of the control system is verified.

How Multibody Dynamics Simulation Technology is Used

RecurDyn and Simulink are used to simulate a virtual prototype of a six degrees of freedom mechanical arm. The effectiveness of the control system can be easily evaluated and improved using a co-simulation with RecurDyn and Simulink.

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