Abstract: This paper deals with the kinematic analysis of multi-member mechanisms and robotic manipulators using MSC ADAMS simulation software. Attention is focused primarily on the analysis of trajectories, positions, velocities and accelerations of selected points of mechanisms, as well as the determination of the working space of manipulators. Analytical relationships and numerical calculations performed in the MATLAB environment were used to solve direct and inverse kinematics tasks, and the resulting trajectories were subsequently verified using simulations in MSC ADAMS. The results obtained confirm the suitability of integrating analytical methods and computer simulation for accurate analysis of the motion of mechanical systems, effective trajectory planning and visualisation of the behaviour of mechanisms in real operating conditions.
Science Journal 