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 |
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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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| _version_ | 1850274867290570752 |
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| author | Ovidiu ANTONESCU Mariana TROFIMESCU Paun ANTONESCU |
| author_facet | Ovidiu ANTONESCU Mariana TROFIMESCU Paun ANTONESCU |
| author_sort | Ovidiu ANTONESCU |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-cdc8b7d0c2c644059d80a74ba42b04b1 |
| institution | OA Journals |
| issn | 1844-640X 1844-640X |
| language | English |
| publishDate | 2019-05-01 |
| publisher | Academica Brancusi |
| record_format | Article |
| series | Fiabilitate şi Durabilitate |
| spelling | doaj-art-cdc8b7d0c2c644059d80a74ba42b04b12025-08-20T01:51:02ZengAcademica BrancusiFiabilitate şi Durabilitate1844-640X1844-640X2019-05-012313036STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOTOvidiu ANTONESCU0Mariana TROFIMESCU1Paun ANTONESCU2Politehnica University of BucharestHigh School Dinu Lipatti, BucharestPolitehnica University of BucharestThe 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.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.pdfkinematic schemaserial robotmobilitymatrix calculusend effector. |
| spellingShingle | Ovidiu ANTONESCU Mariana TROFIMESCU Paun ANTONESCU STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOT Fiabilitate şi Durabilitate kinematic schema serial robot mobility matrix calculus end effector. |
| title | STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOT |
| title_full | STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOT |
| title_fullStr | STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOT |
| title_full_unstemmed | STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOT |
| title_short | STRUCTURAL AND KINEMATICAL ANALYSIS OF MODEL OF SERIAL ROBOT |
| title_sort | structural and kinematical analysis of model of serial robot |
| topic | kinematic schema serial robot mobility matrix calculus end effector. |
| url | 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 |
| work_keys_str_mv | AT ovidiuantonescu structuralandkinematicalanalysisofmodelofserialrobot AT marianatrofimescu structuralandkinematicalanalysisofmodelofserialrobot AT paunantonescu structuralandkinematicalanalysisofmodelofserialrobot |