THE DYNAMIC MODEL OF RTTRR SERIAL ROBOT – ITERATIONS OUTWARDS AND INWARDS THE ROBOT’S MECHANICAL STRUCTURE

Ovidiu Aurelian DETEŞAN, Ana Daniela VAHNOVANU

Abstract


The paper presents the first part of the process of obtaining the dynamic model of RTTRR serial robot. After establishing the input data, the external forces and their moments are determined based on iterations outwards the robot’s mechanical structure. The paper ends with iterations inwards the robot’s mechanical structure, with the goal of determining the connection forces and their moments.

Key words: dynamic model, serial robot, symbolic computation, Newton-Euler’s formulation

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References


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