KINEMATICAL MODELLING FOR R2T SERIAL STRUCTURE USED IN TRANSFER PARTS BETWEEN TWO WORKSTATIONS
Abstract: Based on the idea of bringing more flexibility to a working process, the paper is dedicated to the presentation of geometry and kinematics equations for a R2T serial structure, which can be used for carrying out tasks related to handling of pieces between two workstations. Thus, will be established in analytical form, the direct equations for geometric and kinematic model using dedicated algorithms, as the Transfer Matrices Algorithm and Iterative Algorithm. The Iterative Algorithm uses the outputs of the geometric study for realize the kinematic control, namely the establishment of linear and angular speed/acceleration of every kinetic joint of R2T robot and hence the TCP of the end effector.
Key words: serial structure, mathematical modeling, Transfer Matrices Algorithm, Iterative Algorithm.
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