Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms

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.

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering (Engineering and Technology)

Grantor dc:publisher

Ohio University

Year dc:date

2013

Author dc:creator

• Xue, Xiao

Contributors dc:contributor

• Williams, Robert

• Mechanical Engineering
• ADAMS
• Dynamics
• Parallel manipulator
• MATLAB

Statement 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.

Language dc:language

English

Repository record dc:identifier

http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948

OAI identifier oai:identifier

oai:etd.ohiolink.edu:ohiou1366108948