STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOT
The paper presents a serial robot, whose main spatial kinematic chain consists of four revolute joints. Four continuous current electric motors are used for driving the serial robot. We carried out a structural analysis of the robot, which has four mobilities, while the fourth one is redundant. W...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Academica Brancusi
2019-05-01
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| Series: | Fiabilitate şi Durabilitate |
| Subjects: | |
| Online Access: | http://www.utgjiu.ro/rev_mec/mecanica/pdf/2019-01/05_Ovidiu%20ANTONESCU,%20Mariana%20TROFIMESCU,%20Paun%20ANTONESCU%20-%20STRUCTURAL%20AND%20KINEMATICAL%20ANALYSIS%20OF%20%20MODEL%20OF%20SERIAL%20ROBOT.pdf |
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| Summary: | The paper presents a serial robot, whose main spatial kinematic chain consists of four
revolute joints. Four continuous current electric motors are used for driving the serial robot. We
carried out a structural analysis of the robot, which has four mobilities, while the fourth one is
redundant. We have used matrix calculus for the kinematic analysis of the serial robot arm so that
we obtained the three Cartesian coordinates of the characteristic points according to the four
independent angular parameters. Regarding the prehension mechanism, the kinematic schema
with two symmetrical parallelograms has been presented, which ensures the circular translational
motion of the two fingers. |
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| ISSN: | 1844-640X 1844-640X |