Kinematic and dynamic study of a manipulator 1T6R

Liviu Marian Ungureanu; Elisabeta NICULAE; Florian Ion Tiberiu Petrescu

Kinematic and dynamic study of a manipulator 1T6R

Ungureanu, Liviu Marian ; NICULAE, Elisabeta ^[1] ; Petrescu, Florian Ion Tiberiu ^[1]
1. [1] IFToMM
Localización: Independent Journal of Management & Production, ISSN-e 2236-269X, Vol. 13, Nº. 5, 2022 (Ejemplar dedicado a: Independent Journal of Management & Production), págs. 1066-1092
Idioma: inglés
DOI: 10.14807/ijmp.v13i5.1615
Enlaces
- Texto completo
Resumen
- The paper presents in detail a method of calculating the forces acting on a 1T6R robot manipulator. To determine the reactions (forces in kinematic torques), you must first determine the inertial forces in the mechanism to which one or more payloads of the robot can be added. The torsion of the inertial forces is calculated using the masses of the machine elements and the accelerations at the centers of mass of the elements of the mechanism, so that the positions, speeds, and accelerations acting on it, ie its complete kinematics, will be determined. Equations of the dynamics are also determined through an original method.
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