[robot learning] matlab kinematics and ADMAS dynamics analysis of manipulator gripper

3D model required 、admas Source file 、matlab Code, etc. can be paid to contact bloggers , Or buckle 2386317960

clear
clc
close all
%%
% Model parameters 
L1=73;
L2=17;
L3=60;
%L4=43;
%L5=42;
L6=20;
L7=50;
L8=13;
L9=39;
% See the picture for the specific location 
%%
% Kinematic analysis of mechanism 
% The starting position 
x=0:1:70-43;
y=zeros(1,28);
figure(1)
plot(x,y)
x1=x-L1;y1=ones(1,length(x))*L2;% Location 1
 A little 

Mechanical gripper matlab Program sports video

Mechanical gripper adam Dynamic motion video

Simulation settings Drive component speed setting

The trajectory of the four key points is consistent with the kinematic analysis , It can be judged that the simulation joint is set correctly .

Get the driving rod to move with uniform speed , The required force is shown in the figure below ：