CONTRIBUTIONS AT THE CALCULATION AND CONSTRUCTION OF THE SUSPENDED TTR ROBOT

Abstract

In paper [1] the dynamic study of the TTR industrial robot was performed. Considering the whole robot’s dynamics and the mechanical structure of each module, the actuators are calculated in this paper. This calculation involves the following steps: the identification from the established system of differential equations, the differential equation for each module; depending on the construction of each module, the relation between the driving force from the output mode and the actuator’s power is established; the introduction of the driving  force expression in the motion differential equation; using the imposed or calculated numerical data the report from this equation P_m/n_m is determined; the determination of the actuator’s moment M_n and choosing from an actuator’s catalogue the actuator that has the moment value higher than calculated. The calculations for choosing the actuators were made for MTV, MTO and MR modules from the TTR robot structure.Key words: actuators, driving force, differential equation, mechanical structure, translation module, gripping device.