THE DYNAMIC EQUATIONS OF THE TRTTRR1 ROBOT USING THE NEWTON-EULER FORMALISM

Ramona-Maria GUI (LUNG), Viorel ISPAS, Virgil ISPAS

Abstract


To determine the robot's dynamic equations using the Newton-Euler formalism, is primarily needed the geometric and kinematic modeling. Secondly are required the distribution parameters mass and certain simplifying assumptions of choosing the mass centers Ci but also the mechanical centrifugal moments of inertia. With these are determined the mass centers accelerations and the reduction torsos elements for the external forces. The next step is to determine the torsos of the contact forces and the moments of these contact forces. The last step is to determine the driving generalized forces from the couplers robots; their expressions represent the dynamic equations of the TRTTRR1 robot.

Key words: generalized forces, contact forces, center of mass, reduction torsos, Newton-Euler formalism

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References


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