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Trajectory Simulation for a Robotic Platform Using a Virtual Prototype and a Python–Adams Interface

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Abstract

Simulation of a robotic mobile platform using Matlab Simulink and Adams View software is considered. MSC Adams software is used to create a virtual prototype of the Gough–Stewart platform in the form of a parameterized model controlled by means of Python object-oriented programming language. The manipulator kinematics and the corresponding forces are determined as a function of the design features in combined Adams–Matlab simulation, by solving an inverse kinematic problem. In computer experiments, the structure is optimized and various trajectories are analyzed.

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Funding

Financial support was provided within the framework of the Priority 2030 program at Shukhov Belgorod State Technical University.

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Authors and Affiliations

  1. Shukhov Belgorod State Technical University, Belgorod, Russia

    I. A. Duyun & T. A. Duyun

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  1. I. A. Duyun
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  2. T. A. Duyun
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Correspondence to I. A. Duyun or T. A. Duyun.

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The authors declare that they have no conflicts of interest.

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Translated by B. Gilbert

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Duyun, I.A., Duyun, T.A. Trajectory Simulation for a Robotic Platform Using a Virtual Prototype and a Python–Adams Interface. Russ. Engin. Res. 43, 103–106 (2023). https://doi.org/10.3103/S1068798X23020107

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  • DOI: https://doi.org/10.3103/S1068798X23020107

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