Titre : Computer-assisted study of the dynamic behavior of a manipulator arm 

Auteurs : Trésor Kanyiki, François Ntambwe,  

Revue : Uncertainties and Reliability of Multiphysical Systems 

Numéro : Issue 2 

Volume : 2 

Date : 2018/12/14 

DOI : 10.21494/ISTE.OP.2018.0310 

ISSN : 2514-569X 

Résumé : This article analyzes a numerical solution to solve the differential equations that describe the dynamic behavior of a multibody system. Mechanics suffer from high experimental costs, in some circumstances, sometimes the engineer is unable to test a model, for example in aerospace engineering, it’s hard to create the conditions under the prototype has to evolve. Simulation tools are essential and have become a competitive engineering system. The dynamic of mechanical systems play a fundamental role in establishing a relationship between the causes and the resulting reactions. In this article, we presented Lagrange’s method to establish the differential equations that describe dynamic behaviors of a multibody system, to applying them to the manipulator arm. Analytical resolution by classical methods proves difficult, numerical methods are essential; furthermore, calculation of one iteration by numerical methods can take several hours manually; the use of simulation software is essential. In this article, we have exploited Easydy software who uses the numerical method Newmark. 

Éditeur : ISTE OpenScience