THE GEOMETRIC MODELLING OF THE SERIAL MODULAR ROBOT TRTTRR1

Ramona-Maria GUI (LUNG), Virgil ISPAS, Nicuşor Iosif URSA

Abstract


The paper presents the direct geometrical model for the robot TRTTRR1. For establishing the geometrical model equations is necessary to determine the rotation matrix. Then is necessary to determine the independent parameters of the orientation, the vectors of position and, finally, following the results obtained result the direct geometrical model equations.

Key words: geometric model, kinematic structure, modular robot,  rotation matrix, independent parameters, column vector, characteristic point.


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References


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