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RoManSy 6 pp 246-252 | Cite as

Graphical-Interactive System for CAD and Simulation of Manipulation Systems

  • L. Lilov
  • B. Bekjarov
  • M. Lorer
  • V. Atanasov

Summary

CAMS is a graphical-interactive software system for CAD and simulation cf manipulation systems, based on an originally developed analytical theory. It deals with fundamental problems concerning structure, kinematics, dynamics and accuracy.

CAMS could be applied both in the analysis of already existing manipulation robots for full utilization of their resources in a specific technological process, or in the preliminary design stage for synthesis of systems with optimal characteristics.

CAMS could also be applied at the design stage of robot-automated work places and FMS elements, to select the optimal configuration.

Using CAMS for design and engineering one should model the future system with the aid of the computer and, in this way avoiding the need for experiments, should choose the optimal technological decision.

The CAMS software system is available in several versions fur mini-computers PDP 11–34, SM-4 and microcomputers PERQ and IBM — PC/XT.

The proposed software system is intended to bring together the designer’s intuition with powerful mathematical methods and algorithms.

Keywords

Program Module Level Module Manipulation System Joint Reaction Force Prescribe Motion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    Lilov L., BekJarov B., Geometrical and kinematical qualitative characteristics for functional capacities of manipulation systems. V CISM—IFToMM Symposium, Udine, 1984.Google Scholar
  2. [2]
    Asada H., Geometrical representation of manipulator dynamics and its application to arm design. Journal of dynamic systems, Measurement and control, I X, 1983.Google Scholar
  3. [3]
    Lilov L., Bekjarov B., Accuracy of systems with tree-like structure and arbitrary points. Theoretical and applied mechanics. N 1, 1983.Google Scholar
  4. [4]
    Lilov L., Lorer M., Dynamic analysis of multirigid-body system based on the Gauss Principle. ZAMM 62, 1982.Google Scholar
  5. [5]
    Lilov L., Structure, kinematics and dynamica of systems of rigid bodies. Advances in mechanics. N 6, 1983.Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • L. Lilov
    • 1
  • B. Bekjarov
    • 1
  • M. Lorer
    • 1
  • V. Atanasov
    • 1
  1. 1.Institute of MechanicsBiomechanics Bulgarian Academy of SciencesSofiaBulgaria

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