Research on Simulation of the Robot : 1st Report, Numerical Analysis of Displacement, Velocity and Acceleration

摘要

Displacement, velocity and acceleration of a mechanism of an arbitrary type are analyzed numerically in order to simulate motion of an articulated robot. Uicker's method of analysis, based on the matrix algebra for a link mechanism of a closed loop, is extended to mechanisms of an opened loop and compound loops. How to judge a singular point of motion is explained. On each step of the iterative calculation for convergence by the Newton-Raphson method, a method is proposed to correct the angular displacement of the pairs. It is made clear that the proposed method of correction realizes the analysis with rapid convergence and high accuracy.