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Kinematics Simulation of 6-DOF Parallel Kinematic Machine Based on MATLAB and ADAMS

GU Jin-feng

Open publisher page 1 citations

Abstract

This paper analyzed 6-DOF parallel kinematic machine(PKM) kinematics character,solved its inverse model via MATLAB software and constructed PKM model under UG environment.Kinematics simulation was performed through introducing the model into ADAMS,finally rod kinematic simualtion curve was obtained.Through comparing simualtion curve with the theoretical one obtained from MATLAB,the curves matched each other well,which demonstrates that the inverse model's correctness.Therefore,the inverse mathematics model in EMC(Enhanced Machine Controller) Open Numerical Control System kinematics module has been set up.

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What this paper is about

This paper analyzed 6-DOF parallel kinematic machine(PKM) kinematics character,solved its inverse model via MATLAB software and constructed PKM model under UG environment.Kinematics simulation was performed through introducing the model into ADAMS,finally rod kinematic simualtion curve was obtained.Through comparing simualtion curve with the theoretical one obtained from MATLAB,the curves matched each other well,which demonstrates that the inverse model's correctness.Therefore,the inverse mathematics model in EMC(Enhanced Machine Controller) Open Numerical Control System kinematics module has been set up.

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Available abstract

This paper analyzed 6-DOF parallel kinematic machine(PKM) kinematics character,solved its inverse model via MATLAB software and constructed PKM model under UG environment.Kinematics simulation was performed through introducing the model into ADAMS,finally rod kinematic simualtion curve was obtained.Through comparing simualtion curve with the theoretical one obtained from MATLAB,the curves matched each other well,which demonstrates that the inverse model's correctness.Therefore,the inverse mathematics model in EMC(Enhanced Machine Controller) Open Numerical Control System kinematics module has been set up.

Key concepts: Kinematics, MATLAB, Inverse kinematics, Correctness, Computer science, Inverse, Forward kinematics, Software

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Kinematics Simulation of 6-DOF Parallel Kinematic Machine Based on MATLAB and ADAMS — Research Paper | ScholarLens