The diploma thesis deals with the problem of the dynamics of a system of rigid bodies interconnected by rotational joints. We focus on the movement of the system. We
defined the initial position from which the system starts moving under influence of its own mass and external loads in rotational joints which simulate the actuators of robotic arm. The solution is presented through the notation of generalized equations and the
calculation of the connecting equations from the comb followed by the differential equations of acceleration to obtain the rotation and velocity of the elements of the
system over time. Results are presented in form of animation of the movement of the system of rigid bodies, which originates form numeric calculations. The calculations as well as the animation plotting are done by the use of Python programming language.
This enables the identification of the system movement properties.
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