ADVANCED KINEMATICS MODELING OF A 2RTR SERIAL ROBOT

Iulia Cristina MARE, Iuliu NEGREAN

Abstract


This paper explores and details the application of the matrix exponentials algorithm in the direct kinematic analysis of a 2RTR-type multi-body system. With a meticulous and in-depth approach, the study develops an advanced mathematical model for describing the motion of the multi-body system in space. The proposed algorithm demonstrates efficiency and precision in determining the final position and orientation of the end effector in Cartesian space, considering the specific constraints of the structure. By employing advanced matrix analysis methods and mechanics-specific techniques, the paper contributes to a deeper understanding of the kinematic behavior of the 2RTR system. The data obtained in the kinematic study are crucial for investigating the dynamic characteristics of any multi-body system.

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References


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