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Article · Bulletin of the National Engineering Academy of the Republic of Kazakhstan · December 15, 2023

Direct positional kinematics problem of the RRRRT manipulator in the maple software environment

al-Faraby Kazakh national univercity, Muratulla Utenov, Dauren Baltabay, al-Faraby Kazakh national univercity

Dauren Baltabay
Open via DOIPDFDOI 10.47533/2023.1606-146x.41

Abstract

This article presents the direct positional problem of the RRRRT manipulator created by the authors of the 3D model and its movement using the Maple software environment. In this paper, the positional kinematics problem of this manipulator is studied in detail. To find the kinematic characteristics of the manipulator, the Denavit-Hartenberg and Newton-Euler methods were rationally used. The results were obtained in the Maple software environment, which allows you to obtain the results of kinematic characteristics in the form of 3D graphs. Such graphs allow you to visually see how the modules and directions of the given parameters of the manipulator in the graphs change in space, depending on the position of the manipulator in space.

Robotic Mechanisms and DynamicsDynamics and Control of Mechanical SystemsSoft Robotics and Applicationsforward kinematicsserial manipulatorsDenavit-Hartenberg parameters

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