THE CALCULATION AND DESIGN OF THE SERIAL MODULAR ROBOT TRTR1

Nicuşor Iosif URSA, Lavinia Cristina MIC, Viorel ISPAS

Abstract


In this paper the authors present calculation and construction elements for the serial modular robot TRTR1. This robot is an alternative to the KUKA articulated robot, used to the palletizing of car batteries manufactured at S.C. ROMBAT S.A., from Bistriţa, Romania. The paper presents specific calculation, leading to the determination of the dynamic equations of the robot, used to choose the driving engines. The robot has a modular construction. Starting from the base of the robot, the constructions details of the modules are presented.

Key words: serial modular robot, dynamic equations, design, horizontal module, vertical module

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References


Botez, E., ş.a., Maşini - Unelte. Teoria proiectării, Vol. 1, Editura Tehnică, Bucureşti, 1977

Chisiu, A., ş.a., Organe de maşini, Editura Didactică şi Pedagogică, Bucureşti, 1981

Ispas, V., Manipulatoare şi roboţi industriali, Editura Didactică şi Pedagogică, ISBN 973-30-1349-8, Bucureşti, 2004


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