Automated Robotic System with Five Degrees of Freedom

Abstract

In paper develops and studies a mathematical model of an industrial robot with five degrees of freedom. The kinematic scheme of the robot is determined and the development of a mathematical model is performed using the matrix method and the Lagrange matrix dynamic equations. The study of the model is performed using the method of polynomial transformations. As a result of the analysis of the mathematical model, generalized coordinates, velocities and accelerations for the links of the robot are obtained. The spatial trajectory of the robot's gripper relative to the fixed base of the stand in the initial coordinate system is presented. The developed mathematical model of the robot allows you to determine the main dynamic characteristics of the robot, as well as the necessary generalized forces created by the drive links to move the robot's gripper to the selected point. This model allows the development of automated robotic systems and can be used in robot control systems with five degrees of freedom.