DYNAMIC MODEL OF 6R ARTICULATED INDUSTRIAL ROBOT USING NEWTON-EULER FORMULATION

Florin BUGNAR, Claudiu Mihai NEDEZKI, Iuliana Fabiola MOHOLEA

Abstract


The article describes the process of obtaining the dynamic equations of the 6R articulated industrial robot used in welding processes. The paper uses the previously determined geometric and kinematic model. The aim of this analysis is getting the expressions of the generalized driving forces of the robot, representing the equations of the inverse dynamic model.


Full Text:

PDF

References


Deteşan, O.A., Cercetări privind modelarea, simularea şi construcţia miniroboţilor (En: Research Regarding Modeling, Simulation and Building of Small-Sized Robots), Ph.D. Thesis, Technical University of Cluj-Napoca, 2007.

Bugnar, F., Nedezki, C.M., Trif, A., Dynamic Model of 5R Articulated Industrial Robot Used in Welding Processes, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 60, No 1, ISSN 1221-5872, Cluj-Napoca, 2016.

Deteșan, O.A., The Dynamic Modelling of the Robot Mechanical Structure Using the Symbolic Computation in MATLAB, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 56, No 4, ISSN 1221-5872, Cluj-Napoca, 2013.

Deteșan, O.A., The Dynamic Model of RTTRR Serial Robot – the Determination of the Generalized Driving Forces, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 59, No 1, ISSN 1221-5872, Cluj-Napoca, 2016.

Deteșan, O.A., Vahnovanu, A.D., The Dynamic Model of RTTRR Serial Robot – Iterations Outwards and Inwards the Robot’s Mechanical Structure, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 59, No 1, ISSN 1221-5872, Cluj-Napoca, 2016.

Bugnar, F., Gui (Lung) R.M., Ispas, V., The Geometric Modeling of the Articulate 6R Robot, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 55, No 1, ISSN 1221-5872, Cluj-Napoca, 2012.

Bugnar, F., Ispas, V., Budăcan, I., The Direct Kinematic Model of the Articulate 6R Robot, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 56, No 1, ISSN 1221-5872, Cluj-Napoca, 2013.

Deteșan, O.A., The Definition of the Robot Mechanical Structure Using the Symbolic Computation in MATLAB, Acta Technica Napocensis, Series: Appplied Mathematics and Mechanics, Vol 51, No 4, ISSN 1221-5872, Cluj-Napoca, 2008.

Deteșan, O.A., Bugnar, F., Using the Symbolic Computation in MATLAB for Determining the Geometric Model of Serial Robots, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 55, No 3, ISSN 1221-5872, Cluj-Napoca, 2012.

Deteşan, O.A., Ispas, Vrg., The Kinematic Modelling of the Robot Mechanical Structure Using the Symbolic Computation in MATLAB, Annals of DAAAM for 2009 & Proceedings of 20th DAAAM International Symposium “Intelligent Manufacturing & Automation: Theory, Practice & Education” (ISI Proceedings), ISSN 1726-9679, Wien, 2009.

Negrean, I., Duca, A., Negrean, C., Kacso, K., Mecanică avansată în robotică, U.T. Press, ISBN 978-973-662-420-9, Cluj-Napoca, 2008.

Bugnar, F., Modelarea dinamică a roboţilor industriali articulaţi, Research Report III, Cluj-Napoca, 2013.

Ispas, V., Manipulatoare şi roboţi industriali, Editura Didactică şi Pedagogică, ISBN 973-30-1349-8, Bucureşti, 2004.

Negrean, I., Negrean, D.C., New Formulations About Dynamic Accuracy In Robotics, A&QT-R 2004 (THETA 14), 2004 IEEE-TTTC - International Conference on Automation, Quality and Testing, Robotics, May 13 – 15, 2004, Cluj-Napoca, Romania.

Deteșan, O.A., The Path Planning of Industrial Robots Using Polynomial Interpolation, with Applications to Fanuc LR-Mate 100iB, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 56, No 4, ISSN 1221-5872, Cluj-Napoca, 2013.

Deteșan, O.A., Bugnar, F., Trif, A., Nedezki, C.M., The Path Planning of TRR Small-Sized Robot, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 59, No 3, ISSN 1221-5872, Cluj-Napoca, 2016.

Deteșan, O.A., The Path Planning of RTTRR Small-Sized Industrial Robot in a Process of Microprocessor Packing, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 60, No 4, ISSN 1221-5872, Cluj-Napoca, 2017.

Negrean, I., New Approaches on Notions from Advanced Mechanics, Acta Technica Napocensis, Series: Appplied Mathematics, Mechanics and Engineering, Vol 61, No 2, ISSN 1221-5872, Cluj-Napoca, 2018.

Negrean, I., Advanced Notions and Differential Principles of Motion in Analytical Dynamics, Journal of Engineering Sciences and Innovation, Technical Sciences Academy of Romania, Vol 1, No 1, 49-72, ISSN 2537-320X, Bucharest, 2016.

Negrean I., Formulations on Input Parameters in Advanced Dynamics, published in ActaTechnica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, Vol. 61,Issue III, 2018, ISSN 1221-5872, pp. 305-312.

Negrean I., Advanced Equations in Analytical Dynamics of Systems, published in ActaTechnica Napocensis, Series: Applied Mathematics, Mechanics and Engineering, Vol. 60,Issue IV, 2017, ISSN 1221-5872, pp. 503-514

dynamic model, articulated robot, 6R, robotic welding


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :