THE GEOMETRIC AND KINEMATIC MODEL OF RTTRR SMALL-SIZED MODULAR ROBOT

Ovidiu-Aurelian DETEŞAN

Abstract


The first part of the paper describes the mechanical structure of RTTRR small-sized modular robot. The second part is reserved for the determination of the geometric model of the robot, using the method of rotation matrices [2] and the third part presents the kinematic model, determined using the iterative method for kinematic modeling [2]. The equations of the geometric and kinematic models are determined with the help of the first three modules of the generalized modeling application Robot_Symbolic [1] and they are useful in the simulation of the geometric and kinematic behavior of the analyzed robot.

Key words: robot, serial, modular, geometric and kinematic model, symbolic computation.


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References


Deteşan, O.A., Cercetări privind modelarea, simularea şi construcţia miniroboţilor, Ph.D. Thesis, Technical University of Cluj-Napoca, 2007.

Negrean, I., Duca, A., Negrean, C., Kacso, K., Mecanică avansată în robotică, Editura U.T. PRESS, Cluj-Napoca, 2008, ISBN 978-973-662-420-9.

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Deteşan, O.A., Ispas, Vrg., The Kinematic Modelling of the Robot Mechanical Structure Using the Symbolic Computation in MATLAB, Annals of DAAAM for 2009 & Proceedings of 20th DAAAM International Symposium “Intelligent Manufacturing & Automation: Theory, Practice & Education”, Vienna, 2009.

Deteşan, O.A., Using the Symbolic Computation in MATLAB for Determining the Geometric Model of Serial Robots, 36th International Conference on Mechanics of Solids, Acoustics and Vibrations – ICMSAV XXXVI, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, nr. 55, vol. III, p. 683-688, Cluj-Napoca, 2012, ISSN 1221-5872.

Deteşan, O.A., The Dynamic Modelling of the Robot Mechanical Structure Using the Symbolic Computation in MATLAB, 4th International Conference on Advanced Engineering in Mechanical Systems ADEMS 13, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, nr. 56, vol. IV, p. 659-664, Cluj-Napoca, 2013, ISSN 1221-5872.


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