THE DYNAMIC EQUATIONS OF THE TRTTRR1 ROBOT USING THE LAGRANGE FORMALISM

Virgil ISPAS, Ramona-Maria GUI (LUNG), Nicuşor Iosif URSA

Abstract


The dynamic study of the industrial robots allows solving the following issues: the optimal choice of arrangement of modules in a modular robot structure so that the energy consumptions to be minimal; the choice of a law motion on the robot axes so that the energy consumptions to be minimal; the choice of robot actuators, taking into account the organologia of each module and the whole robot dynamics. For this, the structural kinematic scheme of the robot is presented, then, using the second type of Lagrange's equations the kinetic energy and the generalized forces of the engines are determined. Finally, the dynamic equations of the TRTTRR1 robot are obtained, which are essential for solving the direct and inverse problems of the robot's dynamic.

Key words: robot, kinetic energy, generalized forces, Lagrange’s equations, engine moments, orientation module.


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References


Drăgulescu, D., “Dinamica Roboţilor”, Editura Didactică şi Pedagocică, R.A., Bucureşti, 1997

Gui (Lung), R.M., “Modelarea geometrică, cinematică şi dinamică a roboţilor industriali propuşi a fi impementaţi în fabricarea robotizată a reperelor de tip flanşă ”, Raport de Cercetare II, Cluj-Napoca, 2010

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

Ripianu, A., Mecanică. Cinematică şi Dinamică, Lito IPCN, Cluj-Napoca, 1977


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