Kinematics of Demolition Fire Vehicle with Spatial Multi-link Boom
(주)코리아스칼라
- 최초 등록일
- 2016.04.02
- 최종 저작일
- 2015.04
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서지정보
ㆍ발행기관 : 한국기계기술학회
ㆍ수록지정보 : 한국기계기술학회지 / 17권 / 2호
ㆍ저자명 : Kim Jin-Soo, Ouk Sokunthearith, Lim Su-Hong
목차
1. INTRODUCTIO N
2. FORWARD KINEMA TICS
3. INVERSE KINEMATIC S
3.1 Inverse Kinem atics Solution
3.2 Simulation and A nalysis
4. CONCLUSION
References
영어 초록
In this paper, the forward and inverse kinematics equations for demolition fire vehicle with 6-DOF were developed. This was done through the development of an interface that allows co-simulation using MATHEMATICA and ADAMS. The implementation of this project was done entirely in MATHEMATICA by calculating the kinematics equations to demonstrate the usefulness of this product. The forward and inverse kinematics of the demolition fire vehicle represents the position and orientation of the end-effector as any desired location. This research was particularly conducted using the simulator, and it showed good approximation results in terms of solving a reaching task problem.
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