Abstract
This paper presents and treats (in an original way) the specific elements of the structures of robotic solid mobile anthropomorphic type. Are placed on the wallpaper, the geometry and kinematics of the anthropomorphic robotic solid systems, in an original vision of the authors. One presents the inverse kinematics of anthropomorphic systems, with mechanical elements and points: Geometry, cinematic, positions, displacements, velocities and accelerations. They will be presented further two methods (as the most representatives): First one the method trigonometric and second one the geometric method.
Highlights
Today, anthropomorphic structures are used more and more in almost all the fields of industrial
The automotive industry has requested the appearance of the industrial robots but even their subsequent development (Angeles, 1989; Atkenson et al, 1986; Avallone and Baumeister, 1996; Baili, 2003; Baron and Angeles, 1998; Borrel and Liegeois, 1986; Burdick, 1988)
The structures of the solid anthropomorphic robots are made up of elements and the couples of rotation, to which can add on an occasional basis and one or more couplers with translational moving
Summary
Anthropomorphic structures are used more and more in almost all the fields of industrial. It derives a second time (59) and obtains the system (64): It derives again the time relation (60) and we obtain the expression (65) of the angular acceleration absolute ε3 ≡ ε30 which is determined with φɺɺ and Mɺɺ : The phrase 'second (69) is introduced into a second relationship of (68) to give Equation 70, which are arranged conveniently in the form (71):. It starts by writing positions equations, geometric (geometro-analytical) (66). Keep in the system (98) found the two solutions and in system (99) centralize all four of them: ε2
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