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

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

Abstract Details

2013, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
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.
Robert Williams (Advisor)
Mechanical Engineering
ADAMS; Dynamics; Parallel manipulator; MATLAB;

Recommended Citations

Citations

  • Xue, X. (2013). Investigation into the Utility of the MSC ADAMS Dynamic Software for Simulating Robots and Mechanisms [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948

    APA Style (7th edition)

  • Xue, Xiao. Investigation into the Utility of the MSC ADAMS Dynamic Software for Simulating Robots and Mechanisms. 2013. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948.

    MLA Style (8th edition)

  • Xue, Xiao. "Investigation into the Utility of the MSC ADAMS Dynamic Software for Simulating Robots and Mechanisms." Master's thesis, Ohio University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1366108948

    Chicago Manual of Style (17th edition)

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This open access ETD is published by Ohio University and OhioLINK.