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

filercaliforniaMechanics

Nov 14, 2013 (3 years and 7 months ago)

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Kinematics and Dynamics Simulation of
the Slider
-
crank Mechanism

Based on
Matlab
/
Simulink



Student :
Tz
-
Han Jung

1



Liu,
Mengsi

;

Cao, Y.

;

Zhang,
Qiuju

;

Zhou,
Hui

Computer Application

and

System Modeling (ICCASM), 2010
International Conference on


10.1109/ICCASM.2010.5622970



2010

, Page(s): V9
-
557
-

V9
-
563



計畫目標

2

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

SCARA
-
type
兩種機械手臂


2.

ModelSim

and
Simulink
環境下設計與模擬。

3.
下載

FPGA
晶片使用。

+
_
y
0
+
_
x
0
y
1
x
1
z
1
y
2
x
2
z
2
z
3
y
3
x
3
y
4
x
4
z
4
x
5
y
5
z
5
x
6
y
6
z
6
+
_
z
0
J1
J2
+
_
J3
+
_
J5
+
_
J4
J6
_
d
1
a
1
a
2
a
3
d
4
d
6
+

X
0
y
0
DH
-
type
機械手臂

千䅒S
-
瑹灥
機械手臂

INTRODUCTION

3

Forward:


Given: joint angles
q
1
,
q
2
,
q
3
,
q
4
,
q
5
,
q
6


Find: end location

Inverse:


Given:

end
effector

location


u
,
v
,
w

or RPY angles


Find: joint angles
q
1
,
q
2
,
q
3
,
q
4
,
q
5
,
q
6

4

R
-
P
-
Y


5

D
-
H
規則

6

7

8

9

10

11

12

13

14

CONCLUSIONS


This 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.

15

16

END