Defining working area.

[Hewhowalk]

I'm doing a model of a robot arm in Adams view. Is there any easy way of plotting the working area for the arm (tool-point)? Have already tried to impose motions and forces to make it move along the edges, but I can't make it accurate enough. There should also be singularities inside the area and the only way I can find those is by trail and error and that isn't really good enough.

Thanks in advance.

Jimmy

 

[GregLocock]

No, I don't think you can do that. I think you need to use inverse kinematics ideally

http://en.wikipedia.org/wiki/Inverse_kinematics

The way to do it in ADAMS would be to animate each joint through its full range, fitting a complete cycle of each dof inside the next, as a cascade in time. This will take a long time to do. I do this for a suspension where I want to know the full tire envelope, so I move the suspesnion up and down while steering the wheel very rapidly.

That's only 2 dof, and takes a while to do propelry





Cheers

Greg Locock

SIGlease see FAQ731-376 for tips on how to make the best use of Eng-Tips.