| Dynamic Simulation and Analysis of a Six-Degree-of-Freedom Robotic Arm for Industrial Applications and Object Manipulation Using ADAMS Software |
| کد مقاله : 1039-ISME2024 |
| نویسندگان |
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محمد محمدی *1، یوسف بازرگان لاری2، دارا فاضل3 1دانشجوی کارشناسی ارشد مهندسی مکانیک، واحد شیراز، دانشگاه آزاد اسلامی، شیراز،ایران 2دانشیار گروه مهندسی مکانیک دانشگاه آزاد اسلامی واحد شیراز، شیراز، ایران 3استادیار گروه مهندسی مکانیک دانشگاه آزاد اسلامی واحد شیراز، شیراز، ایران |
| چکیده مقاله |
| This study investigated the dynamic performance of a six-degree-of-freedom robotic arm to improve design and enhance the efficiency of industrial systems. The robotic arm was initially designed using SolidWorks and subsequently transferred to the dynamic simulation environment of ADAMS. Mechanical constraints, electromechanical actuators, and component interactions were evaluated through graphical and numerical analyses. Linear and angular accelerations, contact forces, applied torques, and angular joint changes were analyzed as the system's key parameters. Simulation results revealed that the robotic arm could perform complex motions and precise object handling with a maximum linear acceleration of 3.2 m/s² and a peak torque of 15 N·m, achieving positioning accuracy within 0.5 mm. Furthermore, the recorded contact forces remained within the safe design limits, ensuring system stability and coordination. The results were validated by aligning simulation data with the design objectives. This research highlights the high capability of the robotic arm in managing complex tasks and provides a foundation for developing advanced industrial systems. |
| کلیدواژه ها |
| Six-Degree-of-Freedom Robotic Arm, Dynamic Simulation, ADAMS, Object Handling, Industrial Design. |
| وضعیت: پذیرفته شده برای ارائه شفاهی |