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ADAMS Simulation

Since the most important work to be done on the vehicle at this point is the inverse kinematics of the 3-RRS mechanism, I learnt how to use MSC Adams to model the vehicle and move the end effector along a given trajectory. The angles between the links can then be monitored and output as a high resolution lookup table. In this simulation, the distance of the end effector (red) increases linearly while the pivot around the X and Y axis are moving at 10Hz and 100Hz respectively. Because significant user input was required to iterate throughout the arm’s entire range of motion, this was not the ideal solution.

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