THE CALCULATION OF ACTUATORS FOR THE TRTR1 ROBOT

Abstract

In this paper, the authors propose an original method of calculation and choosing the actuators for the robot's modules. The method consist in using the dynamic equations of the robot along with relations established for driving forces and moments, taking into consideration the mechanical structure of each module. For this, by following the kinematic scheme of the serial robot TRTR1 and by using the Lagrange's equations of second type, the differential equations of motion were determined. Forwards, the authors present relations for the driving forces and moments. These expressions contain the constructive mechanical characteristics for the robot's modules as: power, speed and driving moment. By introducing these relations in the dynamic equations of the robot, the expressions for the driving moments were determined. Carrying on, by imposing trapezoidal laws of variation, with parabolic variation, for the acceleration and braking sections and by specifying numerical data for the constructive mechanical characteristics, the maximal driving moments were obtained. Then, after consulting a specific catalogue, the actuators (that have the value of the driving moment superior to the one calculated) were chosen.

Key words: industrial robot, kinetic energy, generalized forces, differential equations, modules, actuators