The Inverse Kinematics of the Plane System 2-3 in a Mechatronic MP2R System, by a Trigonometric Method

Journal of Mechatronics and Robotics, Volume 1, Issue 2, Pages 75-87, 2017; DOI:10.3844/jmrsp.2017.75.87

13 Pages Posted: 10 Jun 2019 Last revised: 2 Jul 2019

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

Antonio Apicella

Advanced Material Lab - Department of Architecture and Industrial Design

Samuel Kozaitis

Florida Institute of Technology

Taher Abu-Lebdeh

North Carolina Agricultural and Technical State University

Florian Ion Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Date Written: December 20, 2017

Abstract

Robots have penetrated today in almost all industrial fields, being much more precise than humans in the execution of operations, but also faster, more dynamic, more stable and more resilient, working 24 h of the 24 h possible, in any season, breaks, holidays, vacations and especially without getting sick. The most important fact is that they can also perform special operations that man can’t do. So, for example, they can work in toxic, contaminated, mined, dangerous, or airless environments (in the cosmos, under water or underground), they can also position the parts very precisely so they can be used for fine, special processing at high precision operations, excellent mechanical processing, exceptional medical operations and even in all medical operations today, helping the doctor manage the patient's surgery with amazing precision, especially when it comes to open heart, brain, kidneys, liver, etc. Robots should not be fed and yet they can have an extremely long life. They can help us conquer both the underwater spaces and the cosmic spaces. Robots have stunning work precision and a faster execution speed than a man. In addition, their very precise positioning makes robot operations a great advantage, which can no longer be neglected. In repetitive and tiring work they are irreplaceable. The most commonly used anthropomorphic robotic mechatronic systems, which are currently being used, have been studied by eliminating the heavy, matrix 3D spatial system, the study being simplified in a plan by considering the main work plan of the system and the plan, the rotation required to restore the spatial parameters of the anthropomorphic 3D system. In other words, we can greatly ease the work of the anthropomorphic robot engineer by moving from 3D systems to a 2D system. In this study we will study the inverse cinematics of the plan system, 2D, as the most important one. In general, end effector positions are known (required) and the positions of the 2D module elements and the necessary rotations of the actuators for their creation must be determined. In the kinematics we know the kinematic parameters xM and yM, which represent the scaled coordinates of the point M (endeffector M) and must be determined by analytical calculations the parameters ϕ20 and ϕ30.

Note: Copyright © 2017 Relly Victoria Virgil Petrescu, Raffaella Aversa, Antonio Apicella, Samuel Kozaitis, Taher Abu-Lebdeh 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 Apicella, Antonio and Kozaitis, Samuel and Abu-Lebdeh, Taher and Petrescu, Florian Ion, The Inverse Kinematics of the Plane System 2-3 in a Mechatronic MP2R System, by a Trigonometric Method (December 20, 2017). Journal of Mechatronics and Robotics, Volume 1, Issue 2, Pages 75-87, 2017; DOI:10.3844/jmrsp.2017.75.87. Available at SSRN: https://ssrn.com/abstract=3096487

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

Antonio Apicella

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

81031 Aversa (CE)
Italy

Samuel Kozaitis

Florida Institute of Technology ( email )

150 West University Blvd.
Melbourne, FL 32901-6975
United States

Taher Abu-Lebdeh

North Carolina Agricultural and Technical State University ( email )

1601 E. Market St.
Greensboro, NC 27411
United States

Florian Ion Petrescu (Contact Author)

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

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