THE NUMERICAL SIMULATION OF TRR SMALL-SIZED ROBOT

Ovidiu-Aurelian DETEŞAN

Abstract


The paper presents a numerical simulation model for the TRR small-sized robot, by using the program SimMecRob. Starting from the definition of the initial data, concerning the robot’s geometry and from a set of positions specific to the technological process, which must be reached at certain time moments, the geometric, kinematic and dynamic parameters of the robot, characterizing its behavior, are determined, by following the imposed technological process restrictions.

Key words: robot, serial, numerical simulation, SimMecRob.


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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.

Negrean, I., Contribuţii privind optimizarea parametrilor cinematici şi dinamici în vederea măririi preciziei în funcţionare a roboţilor, Ph.D. Thesis, Universitatea Tehnică din Cluj-Napoca, 1995.

Deteşan, O.A., Approach to the Kinematics and Dynamics of the Modular Industrial Robot of TRR Type, Annals of DAAAM for 1998 & Proceedings of the 9th International DAAAM Symposium, Vienna, Austria, 1998, Editor B. Katalinic, pp. 163-164, ISBN 3-901509-08-9.

Deteşan, O.A., The Implementation of the TRR Robots Modeling Using the Symbolic Computation in MATLAB, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, No. 51, vol. IV, Cluj-Napoca, 2008, ISSN 1221-5872.


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