COMPUTER SIMULATION FOR 3-D MATHEMATICAL MODEL USED IN ROBOTIC END-EFFECTOR

Abstract

This paper evolves the running of computer program using Matlab software based upon the simulated values, calculated for 3-D mathematical model used in robotic End-Effector. The model consists of six legs, attached by prismatic joints in middle and by spherical joints with two circular platforms. This model has capacity to produce mobility three in line directions and three in concerned orientations. Here line vectors obtained by cross product of unit vectors (conversion of local coordinates into global coordinates) in shape of columns make Jacobian matrix. The unknown force is calculated by stiffness and concerned displacements of legs. These all factors involved to calculate wrench analysis. Thus these all complicated terms were solved in matrix form by simulating values through Matlab program.