Articles
Dynamic modelling of the Mitsubishi Movemaster RV-M1 serial manipulator using SolidWorks
Published 2016-06-15
Keywords
- Dynamics,
- movemaster RV-M1,
- robotics,
- solidWorks
How to Cite
Barraza Cantillo, A., Rúa Charris, J., Sosa Rodríguez, J., Díaz González, J., Yime Rodríguez, E., & Roldán Mckinley, J. (2016). Dynamic modelling of the Mitsubishi Movemaster RV-M1 serial manipulator using SolidWorks. Revista UIS Ingenierías, 15(2), 49–62. https://doi.org/10.18273/revuin.v15n2-2016004
Abstract
This paper presents how the mathematical model of the Mitsubishi RV-M1 robot dynamics is obtained from the application of the Lagrange-Euler energy principle. A SolidWorks CAD model of the robot was created, where the internal elements material and location were considered for each link. This detailed CAD model was used in the attainment of the centers of mass and the inertia matrixes of each link. The gravity compensation control law was simulated for the robot, and the mathematical dynamic model was used to calculate the control torques. The results obtained for the SolidWorksgenerated values were compared against those using dynamic properties in available literature. Satisfactory results were obtained in the workspace error by using an approach that is very detailed although non-experimental, supported with a software that is widely used in the Mechanical Engineering Programas of the Colombian universities
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