Improved Sliding Mode Variable Structure Control of Robot Manipulators with Flexible Joints based on Singular Perturbation

Chenxu Wang; Dajian Yi; Wenhui Zhang; Xiaochen Huang; Rui Chen; Maojun Wu; Jing Ma

doi:10.54097/prx5zp34

Authors

Chenxu Wang
Dajian Yi
Wenhui Zhang
Xiaochen Huang
Rui Chen
Maojun Wu
Jing Ma

DOI:

https://doi.org/10.54097/prx5zp34

Keywords:

Kinematics analysis, Virtual prototype, six bar linkage, ADAMS.

Abstract

This paper discusses the kinematics analysis method of six link mechanism based on virtual prototype technology and Adams. Firstly, the kinematics mathematical model of the six-bar linkage is deduced. Then, based on the design and development process of virtual prototype technology, the virtual prototype model of the six-bar press is established in ADAMS software. Finally, the kinematics simulation analysis is carried out for the model. The proposed method provides a reference for the parametric and optimal design analysis of the multi bar linkage of the mechanical press.

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