{"id":{"repo_id":"ohiolink","oai_identifier":"oai:etd.ohiolink.edu:ohiou1366108948"},"canonical_url":"https://search.dev.ndltd.org/etd/ohiolink/oai:etd.ohiolink.edu:ohiou1366108948","repository":{"repo_id":"ohiolink","name":"OhioLINK","base_url":"https://etd.ohiolink.edu/acprod/odb_etd/ws/oai/oai"},"display":{"title":"Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms","abstract":"A Slider-Crank mechanism, a 4-bar mechanism, a 2R planar serial robot and a Stewart-Gough parallel manipulator are modeled and simulated in MSC ADAMS/View. Forward dynamics simulation is done on the Stewart-Gough parallel manipulator; Inverse dynamics simulation is done on Slider-Crank mechanism, 2R planar serial robot and 4-bar mechanism. In forward dynamics simulation, the forces are applied in prismatic joints and the Stewart-Gough parallel manipulator is actuated to perform 4 different expected motions. The motion of the platform is measured and compared with the results in MATLAB. An example of inverse dynamics simulation is also performed on it. In the inverse dynamics simulation, the Slider-Crank mechanism and four-bar mechanism both run with constant input angular velocity and the actuating forces are measured and compared with the results in MATLAB. The 2R planar serial robot’s motions are defined with splines with driving torques measured and compared with Williams’s results in MATLAB.","abstract_html":"A Slider-Crank mechanism, a 4-bar mechanism, a 2R planar serial robot and a Stewart-Gough parallel manipulator are modeled and simulated in MSC ADAMS/View. Forward dynamics simulation is done on the Stewart-Gough parallel manipulator; Inverse dynamics simulation is done on Slider-Crank mechanism, 2R planar serial robot and 4-bar mechanism. In forward dynamics simulation, the forces are applied in prismatic joints and the Stewart-Gough parallel manipulator is actuated to perform 4 different expected motions. The motion of the platform is measured and compared with the results in MATLAB. An example of inverse dynamics simulation is also performed on it. In the inverse dynamics simulation, the Slider-Crank mechanism and four-bar mechanism both run with constant input angular velocity and the actuating forces are measured and compared with the results in MATLAB. The 2R planar serial robot’s motions are defined with splines with driving torques measured and compared with Williams’s results in MATLAB.","abstract_has_math":false,"creators":["Xue, Xiao"],"institution":"Ohio University","degree_name":"Master of Science (MS)","degree_level":"masters","degree_discipline":"Mechanical Engineering (Engineering and Technology)","degree_department":null,"school":null,"contributors":["Williams, Robert"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-06-17","date_published":"2013-06-17","updated_at":"2026-07-24T03:37:46Z","subjects":["Mechanical Engineering","ADAMS","Dynamics","Parallel manipulator","MATLAB"],"languages":["English"],"rights":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Williams, Robert"]},{"key":"dc:creator","label":"Author","values":["Xue, Xiao"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-06-17"]},{"key":"dc:publisher","label":"Institution","values":["Ohio University / OhioLINK"]},{"key":"dc:type","label":"Dc Type","values":["Electronic Thesis or Dissertation"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering (Engineering and Technology)"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science (MS)"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Ohio University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mechanical Engineering","ADAMS","Dynamics","Parallel manipulator","MATLAB"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["English"]},{"key":"dc:rights","label":"Dc Rights","values":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. 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An example of inverse dynamics simulation is also performed on it. In the inverse dynamics simulation, the Slider-Crank mechanism and four-bar mechanism both run with constant input angular velocity and the actuating forces are measured and compared with the results in MATLAB. The 2R planar serial robot’s motions are defined with splines with driving torques measured and compared with Williams’s results in MATLAB."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf","4.56 MB"]},{"key":"dc:title","label":"Title","values":["Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms"]}]}],"canonical_facts":{"dc:contributor":["Williams, Robert"],"dc:creator":["Xue, Xiao"],"dc:date":["2013-06-17"],"dc:description":["A Slider-Crank mechanism, a 4-bar mechanism, a 2R planar serial robot and a Stewart-Gough parallel manipulator are modeled and simulated in MSC ADAMS/View. Forward dynamics simulation is done on the Stewart-Gough parallel manipulator; Inverse dynamics simulation is done on Slider-Crank mechanism, 2R planar serial robot and 4-bar mechanism. In forward dynamics simulation, the forces are applied in prismatic joints and the Stewart-Gough parallel manipulator is actuated to perform 4 different expected motions. The motion of the platform is measured and compared with the results in MATLAB. An example of inverse dynamics simulation is also performed on it. In the inverse dynamics simulation, the Slider-Crank mechanism and four-bar mechanism both run with constant input angular velocity and the actuating forces are measured and compared with the results in MATLAB. The 2R planar serial robot’s motions are defined with splines with driving torques measured and compared with Williams’s results in MATLAB."],"dc:format":["application/pdf","4.56 MB"],"dc:identifier":["http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948"],"dc:language":["English"],"dc:publisher":["Ohio University / OhioLINK"],"dc:rights":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws."],"dc:subject":["Mechanical Engineering","ADAMS","Dynamics","Parallel manipulator","MATLAB"],"dc:title":["Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms"],"dc:type":["Electronic Thesis or Dissertation"],"thesis:degree_discipline":["Mechanical Engineering (Engineering and Technology)"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science (MS)"],"thesis:institution_name":["Ohio University"]},"updated_at":"2026-07-24T03:37:46Z"}