THE KINEMATIC MODEL OF THE TRTR MODULAR SERIAL ROBOT

Ramona Maria Gui, Ovidiu Aurelian Detesan, Viorel Ispas, Virgil Ispas

Abstract


Abstract: The paper has three parts in its structure: theoretical approach, the kinematic modeling of the TRTR modular serial robot and conclusions, followed by a reference list. After a brief resentation of the iterative method for the kinematic modeling, the mechanical structure of the TRTR robot is mentioned, according to [4]. The iterative method is then applied to the mechanical structure of TRTR robot, based on certain geometrical expressions previously determined. The kinematic parameters are thus obtained, which are the operational angular and linear velocities and accelerations of the gripper with respect to the mobile frame (T5). Applying some transformation equations, these kinematic parameters are eventually expressed with respect to the fixed frame (T0) from the robot base.
Key words: modular serial robot, kinematic model, iterative method.


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References


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