Effect of friction on the dynamical analysis of three-link planar robot arm by using Lagrange approach
المؤلف
المصدر
Engineering and Technology Journal
العدد
المجلد 35، العدد 6A (30 يونيو/حزيران 2017)، ص ص. 587-592، 6ص.
الناشر
تاريخ النشر
2017-06-30
دولة النشر
العراق
عدد الصفحات
6
التخصصات الرئيسية
العلوم الهندسية والتكنولوجية (متداخلة التخصصات)
الملخص EN
The dynamic analysis of Three-Link planar robot arm and control system with (PID) are presented and investigated.
The dynamic analysis is very important in the design and control of the robot.
The difference between the actual dynamic analysis and ideal dynamic analysis is the presence of friction in the robot joints.
In this work, the frictional effect in the joints of three-link planar robot is inserting in the dynamic equations and that makes the dynamic analysis is more reality and difficult.
The mathematical model that represent the friction consist of two types of friction (Coulomb and viscous friction).
A Lagrange method is used and applied to evaluate the generalized forces in the two cases (without and with the effect of friction).
Control system with (PID) controller is presented with Simulink block set to evaluate and show the dynamic response of each link in two cases (without and with friction).
MATLAB software is used for programing and simulation the equations.
In addition, with that, error signals are presented and analyzed for each link.
It is concluded from the results that the values of generalized forces in case of presence of friction are more about (12%) than the values of the forces in case of without friction and the behaviors of the dynamic response is linear in case of without friction while the behavior become (non-linear) by inserting the frictional effect in the robot joints.
The results indicate that the effect of friction is very important and must be not neglected.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Husayn, R. M.. 2017. Effect of friction on the dynamical analysis of three-link planar robot arm by using Lagrange approach. Engineering and Technology Journal،Vol. 35, no. 6A, pp.587-592.
https://search.emarefa.net/detail/BIM-795435
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Husayn, R. M.. Effect of friction on the dynamical analysis of three-link planar robot arm by using Lagrange approach. Engineering and Technology Journal Vol. 35, no. 6A (2017), pp.587-592.
https://search.emarefa.net/detail/BIM-795435
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Husayn, R. M.. Effect of friction on the dynamical analysis of three-link planar robot arm by using Lagrange approach. Engineering and Technology Journal. 2017. Vol. 35, no. 6A, pp.587-592.
https://search.emarefa.net/detail/BIM-795435
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references : p. 592
رقم السجل
BIM-795435
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر