CALCULATION AND DESIGN OF THE SERIAL MODULAR MANIPULATOR TT

Viorel ISPAS, Lavinia Cristina MIC, Nicuşor Iosif URSA

Abstract


In this paper the authors present calculation and construction elements for the serial modular manipulator TT. The paper presents specific calculation, leading to the determination of the dynamic equations of the robot. The manipulator has a modular structure consisting of two modules: the horizontal module of translation and the vertical module of translation.

Key words: serial modular manipulator, dynamic equations, design, horizontal module, vertical module.


References


Chisiu, A., ş.a., Organe de maşini, Editura Didactică şi Pedagogică, Bucureşti, 1981

Ispas, V., Manipulatoare şi roboţi industriali, Editura Didactică şi Pedagogică, ISBN 973-30-1349-8, Bucureşti, 2004

Ispas, V., Ursa, N.I., Modelarea dinamică a roboţilor propuşi spre implementare la SC. RAAL SA., Bistriţa, a IX-a Conferinţă Naţională – Profesorul Dorin Pavel - fondatorul hidroenergeticii româneşti, Sebeş, 2009, Ştiinţă şi inginerie, vol.16, p.157 - 164, Bucureşti, 2009, ISBN 973 - 8130 - 82 - 4

Voinea, R., Voiculescu, D., Ceauşu, V., Mecanica, Editura Didactică şi Pedagogică, Bucureşti, 1983


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