ANALYSIS OF KINEMATICS AND KINETOSTATICS OF FOUR-BAR LINKAGE MECHANISM BASED ON GIVEN PROGRAM

Machines. Technologies. Materials., Vol. 11 (2017), Issue 9, pg(s) 429-434

In this paper is presented Synthesis of a for-bar linkage mechanism of the lift car extrusion. In this mechanism are introduced even higher kinematic pairs. The movement of the mechanism is repeated periodically and it is sufficient to do its kinematic study for an angle 75 [deg]. The description of the mechanism movement can be performed in the grafoanalytical or analytical path by centers of speed moments, which belong to a narrow link and a loop of the center mechanism, and the instant centers belonging to the two related movements. In the kinematic analysis of the forward mechanisms are used graphical methods. These are simple and universal, making it possible to determine the positions, velocity and acceleration of the links of any structure. With the application of contemporary calculating technology, the graphical methods in the analysis of mechanisms take the right place. The velocity of each link of the mechanism linkage that performs the movement of the plane can be shown as very geometric of the instant center speed and the speed of rotation around the center of the instantaneous. The analysis will be performed by Math Cad software, while kinetostatic analysis will be carried out using Contour Method, comparing results of two different software‘s Math CAD and Working Model. The simulation parameters will be computed for all points of the contours of mechanism. For the simulations results we have use MathCad and Working Model software’s.

COMPUTER AIDED ANALYSIS OF KINEMATICS AND KINETOSTATICS OF SIX-BAR LINKAGE MECHANISM THROUGH THE CONTOUR METHOD

Mathematical Modeling, Vol. 1 (2017), Issue 1, pg(s) 51-56

In this paper is presented a six-bar linkage mechanism of the pump for oil extrusion. In this mechanism are introduced higher kinematic pairs. Dimensions and other incoming links are adopted as necessary. For the six-bar linkage mechanisms is carried out the kinematic analysis and for all linkages are shown the displacement, velocity and acceleration. The analysis is performed by Math Cad software, while kinetostatic analysis is carried out using Contour Method, comparing results of two different software‘s Math CAD and Working Model. The simulation parameters are computed for all points of the contours of mechanism.

GRUND CONTACT IN SIMMECHANICS FOR HUMANOID ROBOT

Innovations, Vol. 5 (2017), Issue 3, pg(s) 145-150

This paper deals with the comparison of analysis of two legged humanoid robots during walking. This research area is characterized by the fact that there are a lots of publications, most of which are based on the classic Zero-Moment-Point (ZMP) method. First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit Hartenberg and the Newton-Euler are used. Main aim of this work is to investigate the stability of humanoid robot developed. There is currently the low base of robot – consisting of feet, legs, hips and upper part of robots body. First, the existing low base of humanoid robot was simulated using Matlab / SimMechanics, where the derived by Newton-Euler model was used.