A PLANAR ROBOT DESIGN AND CONSTRUCTION WITH MAPLE

Year 2016, Volume: 6 Issue: 2, 1 - 5, 23.07.2016

Engin Can Özkan Canay

Abstract

Maple is used to do numerical computation, plot graphs and do exact symbolic manipulations and word processing. In this study we demonstrate how Maple can be used for the simulation of a planar robot. This offers the possibility to become familiar of mathematical modelling. The mechanism under consideration is a so-called F-mechanisms (Can & Stachel, 2014), i.e., a planar parallel 3-RRR robot with three synchronously driven cranks. It turns out that at this example it is not possible to find the poses of the moving triangle exactly by graphical methods with traditional instruments only. Hence, numerical methods are essential for the analysis of motions which can be performed by a planar robot

Keywords

Maple, scientific computing, mathematical modelling, planar mechanism, planar parallel 3-RRR-robot

References

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