0:42
Excavator arm
Three linear drives, one per degree of freedom, move the boom, stick and bucket. Their motion profiles are coordinated with one another.
Example · Mechanical engineering · ASOMv10
Parallel pick-and-place mechanism
A parallel pick-and-place mechanism is to follow a specified path. From this, ASOMv10 calculates the angle, speed and torque of both drives.
3:05
The task
From the trajectory to the drives
The example examines a generic planar parallel pick-and-place mechanism with two degrees of freedom. The trajectory and the velocity profile with which it is traversed are specified. The task is to find the curves at the real drives, all the way to the required torque.
What ASOM shows here
- The specified point travels along the trajectory with a trapezoidal velocity profile.
- For both real drives, ASOMv10 shows angle, angular velocity, angular acceleration and torque – with inertia effects, because all links have masses and moments of inertia.
- Constraints maintain parallelisms and symmetries with every change, and the mechanism adapts to new joint and center-of-gravity positions.
Your benefits
Design motion sequences precisely
You change the trajectory or joint positions and immediately see which angles, speeds and torques the drives have to deliver for it.
Specify the path, get the drives
Trajectory as input, drive values as output: this is how ASOMv10 also solves inverse kinematics tasks in most cases.
Profile as needed
You define yourself in the drive control how the point accelerates, travels and decelerates. More on motion sequences
Change path and joints live
You try out new positions directly, and the model stays consistent. More on constraints
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All example videos
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