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Teaching Robotics with a reconfigurable 3D multibody dynamics simulator

✍ Scribed by Luciano E. Chiang

Publisher
John Wiley and Sons
Year
2009
Tongue
English
Weight
252 KB
Volume
18
Category
Article
ISSN
1061-3773

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✦ Synopsis

Abstract

The theoretical foundations of a software package used to teach Robotics by simulation of 3D multibody systems is described. The software called PADROB is based in a methodology that automatically assembles and solves the equations of motion of a 3D mechanism specified according to modeling conventions. The system of equations is time‐integrated to simulate the behavior of a multibody mechanism subject to a set of external forces and moments. Models are constructed by specifying bodies and connections (joints) between them, and they easily reconfigurable. © 2009 Wiley Periodicals, Inc. Comput Appl Eng Educ 18: 108–116, 2010; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20202

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