Forces of a 3R Robot

Journal of Mechatronics and Robotics, Vol 1, Issue 1

14 Pages Posted: 13 Dec 2017

See all articles by Relly Victoria Petrescu

Relly Victoria Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Raffaella Aversa

Advanced Material Lab - Department of Architecture and Industrial Design

B. Akash

American University of Ras Al Khaimah

Filippo Berto

Norwegian University of Science and Technology (NTNU) - Department of Engineering Design and Materials

Antonio Apicella

Advanced Material Lab - Department of Architecture and Industrial Design

Florian Ion Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Date Written: December 9, 2017

Abstract

In this study, one presents a method for determination of kinetostatic parameters in dyad 3R. It starts with the determination of the forces in the joints: RB, RD, R23. To generalize the method including for the 2R robots, enter both the moments M1, M2. This module (2R) is the main module found in all rotating anthropomorphic robotic structures and similar mechatronic structures. If there are additional external forces such as technological resistances, they will also be added. The forces acting within a mechanism are of particular importance in that they give the dimensions of the mechanism, the elements of the mechanism so that it can withstand all the static and dynamic loads during its operation. For this reason, it is important to know all the forces acting on the elements but especially on the kinematic couplers, both for the correct dimensioning of these elements and for the proper functioning of the respective mechanism. Forces together with kinematics are, on the other hand, basic components of dynamic calculations for that mechanism. This is also true for robots. Science that deals with the determination of forces within a mechanism is called Kinetostatic. The calculations within a mechanism are made on the pieces of this mechanism called structural groups or structural modulus. The structural modules of a mechanism are determined on the basis of the principle of eliminating the mobility of the respective group in the desmodromic mechanisms. The mobility of the mechanism is given either by other movable input elements that are added to the structural groups or to the robots by adding some actuators to the elements of a module.

Note: © 2017 Relly Victoria Petrescu, Raffaella Aversa, Bilal Akash, Filippo Berto, Antonio Apicella and Florian Ion Tiberiu Petrescu. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

Suggested Citation

Petrescu, Relly Victoria and Aversa, Raffaella and Akash, B. and Berto, Filippo and Apicella, Antonio and Petrescu, Florian Ion, Forces of a 3R Robot (December 9, 2017). Journal of Mechatronics and Robotics, Vol 1, Issue 1. Available at SSRN: https://ssrn.com/abstract=3085250

Relly Victoria Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

Raffaella Aversa

Advanced Material Lab - Department of Architecture and Industrial Design ( email )

81031 Aversa (CE)
Italy

B. Akash

American University of Ras Al Khaimah ( email )

American University of Ras Al Khaimah
School of Graduate Studies and Research
Ras Al Khaimah, RAK 10021
United Arab Emirates

HOME PAGE: http://www.aurak.ac.ae

Filippo Berto

Norwegian University of Science and Technology (NTNU) - Department of Engineering Design and Materials ( email )

Trondheim
Norway

Antonio Apicella

Advanced Material Lab - Department of Architecture and Industrial Design ( email )

81031 Aversa (CE)
Italy

Florian Ion Petrescu (Contact Author)

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

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