Propulsion Effect Analysis of 3Dof Robot Under Gravity

Modeling, Analysis and Control of robotic systems usually requires that initially the Dynamical Modeling to be carried out. In this paper is used Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler formulations for dynamical modeling of 3DOF robot (3 degree of freedom). Dynamical model is derived by using Software Maple. Simulations for the analysis of propulsion effect under gravity are done using Matlab/Simulink, where Link 1 rotates with 1000 rpm, Link 2 can move freely in vertical direction and Link 3 can rotate freely around its rotation axle. Simulation results show that propulsion of the proposed 3DOF robot is very good. Results are verified-compared with the constructed model of 3DOF robot by using Working Model 3D.