THE DYNAMIC STUDY OF THE SUSPENDED TTTR SERIAL ROBOT, GATEWAY TYPE

Nicusor Iosif URSA

Abstract


From the dynamic studies conducted on a family of robots proposed to serve the radiators fluxing process, made at SC RAAL SA Bistriţa, the author presents in this paper the dynamic study of the serial modular suspended robot TTTR. Using   Lagrange’s 2nd type equations, the robot’s dynamic equations were derived. The algorithm which leads to the dynamic equations includes: the kinetic energy of the robot, after, in advance, the kinetic energies of the component modules were determined and the generalized driving forces were established. The dynamic study of the robot allows the calculation of the actuators and the determination of  the optimal variant of arrangement of the modules in the robot structure, so that the energy consumption will be minimal.

Key words: Lagrange equations, radiator, kinetic energy, forces, generalized motors, actuators, dynamic equations

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References


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