Simulation of a Six-Degree Manipulator

Abstract

In paper develops a structure of a mechanical manipulator with six degrees of freedom. A mathematical model of the manipulator is investigated using the matrix method and the matrix Lagrange second-kind dynamic equations. As a result of the analysis of the mathematical model, generalized coordinates, velocities and accelerations for the links of the robot are obtained, the spatial trajectory of the movement of the gripper of the manipulator is determined. The developed mathematical model of the robot allows you to design automated robotic systems with six degrees of freedom.

Keywords

• mechanical manipulator
• six degrees freedom
• matrix method
• mathematical model
• automated robotic systems