THE DIRECT KINEMATIC MODEL OF THE SERIAL MODULAR ROBOT TRTTRR1

Florin BUGNAR, Ramona-Maria GUI (LUNG), Virgil ISPAS

Abstract


This paper presents the direct kinematic model of the serial modular robot TRTTRR1 intended to be implemented in a flexible manufacturing cell. By this model the disadvantages of geometric modeling are eliminated due to non-linearity of the geometrical equations and the lack of control over velocity and acceleration on the motion trajectory.

Key words: kinematic modeling, geometrical equations, generalized velocities, generalized accelerations, parameter

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References


Negrean, I., Itul, T., Haiduc, N., “Cinematica roboţilor industriali”, Centrul de multiplicare al Universităţii Tehnice, Cluj-Napoca, 1995

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

Gui (Lung), R.M., “Modelarea geometrică, cinematică şi dinamică a roboţilor industriali propuşi a fi impementaţi în fabricarea robotizată a reperelor de tip flanşă ”, Raport de Cercetare II, Cluj-Napoca, 2010

Ripianu, A., Mecanică. Cinematică şi Dinamică, Lito IPCN, Cluj-Napoca, 1977


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