Kinematics and Dynamics Simulation of the Slider-crank Mechanism Based on Matlab / Simulink

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Kinematics and Dynamics Simulation of the Slider-crank MechanismBased on Matlab/Simulink

Student : Tz-Han Jung

Liu, Mengsi ; Cao, Y. ; Zhang, Qiuju ; Zhou, HuiComputer Application and System Modeling (ICCASM), 2010 International Conference on 10.1109/ICCASM.2010.5622970  2010 , Page(s): V9-557 - V9-563

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計畫目標主要將發展推導機械手臂的運動學與反運動學並設計其控制硬體 IP：1.DH-type 與 SCARA-type兩種機械手臂。2. 在 ModelSim and Simulink環境下設計與模擬。3. 下載至 FPGA晶片使用。

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y1

y2

y4

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z0J1

J2

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_J4

J6_

d1

a1

a2

a3d4

d6

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X0

y0

DH-type機械手臂SCARA-type機械手臂

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INTRODUCTION

Forward:

Given: joint angles q1, q2, q3, q4, q5, q6

Find: end location

Inverse:

Given: end effector location u, v, w or RPY angles

Find: joint angles q1, q2, q3, q4, q5, q6

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R-P-Y角D-H規則

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CONCLUSIONSThis paper addressed the kinematics and dynamics simulation of the Slider-Crank mechanism. After proposing a mathematical model for the forward displacement of the slider-crank mechanism, the mathematical models for the forward velocity and acceleration of the slider-crank mechanism are constructed, respectively. According to the theory of statical equilibrium, the mathematical model for the forward dynamics of the slider-crank mechanism is constituted as well based on the acceleration analysis of each component part of this mechanism under consideration.

Taking into account of mathematical models for the forward kinematics and dynamics of the slider-crank mechanism, simulation models for the forward kinematics and dynamics of the slider-crank mechanism are constituted in the Matlab/Simulink simulation platform and the forward kinematics and dynamics simulation of the slider-crank mechanism was successfully accomplished based on the Matlab/Simulink simulation platform by which an arduous and complicated mathematical manipulation can be avoided and a lot of computation time can be saved.

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