Thu Dau Mot University Journal of Science


Simulating 3r robot dynamics using imported cad in Maplesim

By Nguyen Van Tan
DOI: 10.37550/tdmu.EJS/2020.04.084

Abstract

With the development of information technology, many applications of robots are increasingly being applied to support research, learning, and teaching. This paper mainly investigates the modeling and simulation of a robotic arm with 3 degrees of freedom (dofs) for different applications. First, Kinematics and dynamics model of the robot based on the standard Denavit Hartenberg (D-H) modeling method, where the forward kinematics of robot is analyzed and computed to obtain by using the inverse kinematics, and then the solution of the robot dynamics is derived. Second, a CAD model of the robot is designed on CATIA software to convert to MapleSim software to simulation and control. Final, numerical simulation is presented to display results. This work provides a potential basis for the realization of the robotic arm in the industrial, education, and research field, which is of great significance for improving manufacturing efficiency and support teaching and research in the robot field.


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Publication Information

Publisher

Thu Dau Mot University, Viet Nam

Editor-in-Chief

Assoc. Prof. Nguyen Van Hiep
Thu Dau Mot University

Editorial Board

Assoc. Prof. Le Tuan Anh
Thu Dau Mot University
PhD. Nguyen Quoc Cuong
Thu Dau Mot University

PhD. Doan Ngoc Xuan
Thu Dau Mot University
PhD. Nguyen Khoa Truong An
Thu Dau Mot University

Assoc. Prof. Nguyen Thanh Binh
Thu Dau Mot University
PhD. Le Thi Thuy Dung
Thu Dau Mot University

PhD. Ngo Hong Diep
Thu Dau Mot University
PhD. Nguyen Duc Dat Duc
Ho Chi Minh City University of Industry and Trade

Assoc. Prof. Nguyen Van Duc
Animal Husbandry Association of Vietnam
PhD. Nguyen Thi Nhat Hang
Department of Education and Training of Binh Duong Province

PhD. Nguyen Thi Cam Le
Vietnam Aviation Academy
PhD. Trần Hạnh Minh Phương
Thu Dau Mot University

M.A. Pham Van Thinh
Thu Dau Mot University
PhD. Nguyen Thi Lien Thuong
Thu Dau Mot University

Prof. Le Quang Tri
Can Tho University
Prof. Banh Quoc Tuan
Thu Dau Mot University