Kinematics of Demolition Fire Vehicle with Spatial Multi-link Boom

Kim Jin-Soo; Ouk Sokunthearith; Lim Su-Hong

논문 상세보기

Kinematics of Demolition Fire Vehicle with Spatial Multi-link Boom KCI 등재

파괴 방수차 3차원 다관절 붐의 운동학

Kim Jin-Soo, Ouk Sokunthearith, Lim Su-Hong

언어ENG
URLhttps://db.koreascholar.com/Article/Detail/298835

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한국기계기술학회지 (Journal of the Korean Society of Mechanical Technology)

제17권 제2호 (2015.04)
pp.217-222

한국기계기술학회 (Korean Society of Mechanical Technology)

초록

In this paper, the forward and inverse kinematics equations for demolition fire vehicle with 6-DOF were developed. This was done through the development of an interface that allows co-simulation using MATHEMATICA and ADAMS. The implementation of this project was done entirely in MATHEMATICA by calculating the kinematics equations to demonstrate the usefulness of this product. The forward and inverse kinematics of the demolition fire vehicle represents the position and orientation of the end-effector as any desired location. This research was particularly conducted using the simulator, and it showed good approximation results in terms of solving a reaching task problem.

키워드

Forward kinematics 순운동학 Inverse kinematics 역운동학 Demolition Fire Vehicle 파괴방수차 Multi-link boom 다관절 붐 ADAMS 아담스

1. INTRODUCTIO N
2. FORWARD KINEMA TICS
3. INVERSE KINEMATIC S
3.1 Inverse  Kinem atics Solution
3.2 Simulation and A nalysis
4. CONCLUSION
References

저자

Kim Jin-Soo(Member, Jeonju University) | 김진수 Corresponding author
Ouk Sokunthearith(Signet system) | 옥 소쿤티아릇
Lim Su-Hong(F ron tis) | 임수홍

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