DIRECT KINEMATICS MODELING OF TRTRR SERIAL MODULAR ROBOT

Viorel ISPAS, Ramona Maria GUI, Virgil ISPAS, Mariana ARGHIR

Abstract


There is a modular serial robot noted TRTRR with two translation modules and three rotational modules, and that is inside the manufacturing cell. In this paper is presented the kinematics modeling using matrix study. For the five modules are given step by step the position matrix and the final result if they work as an assembly. In this paper there is the direct kinematics modeling and this is the continuing of the geometric modeling of the TRTRR robot.

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References


Deteşan, O.A., “Cercetări privind modelarea, simularea şi construcţia miniroboţilor”, Teză de doctorat, Universitatea Tehnică din Cluj-Napoca, 2007.

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

Khalil, W., Dombre, E., “Modeling, identification and control of robots” Taylor & Francis, Inc. Bristol, PA, USA, 2002.

Popescu, P., “Mecanica. Cinematica” Atelierul de multiplicare al I.P. Cluj-Napoca, 1978.


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