THE GEOMETRIC MODEL OF THE TRTTRR1 MODULAR SERIAL ROBOT

Virgil Ispas, Ramona Maria Gui, Viorel Ispas, Ovidiu Aurelian Detesan

Abstract


The structure of the paper has three parts: a theoretical approach, the geometric model of the TRTTRR1 modular serial robot and conclusions, followed by a reference list. After a general presentation of the geometrical modeling of robots, the rotation matrices method is mentioned. A brief description of the mechanical structure of TRTTRR1 modular serial robot is then performed and the algorithm for direct modeling is presented in detail, after that, for the above mentioned robot. The column vector of the operational coordinates, defining the position and the orientation of the robot’s gripper is determined, with respect to the fixed frame.

Key words: modular serial robot, geometric model, rotation matrices method.


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References


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