Aspects on the Calculus and Construction of Translation Modules in the Mechanical Structure of an Industrial Robot Possessing Four Degrees of Freedom

Abstract

The authors of this paper wish to highlight elements specific to the dynamic calculus, the concept, optimal design and assembly of translation modules in an industrial robot architecture of serial-modular construction, a structure which possesses in its kinematic chain structure four degrees of freedom. Based on a rigorous dynamic study conducted on the mechanical structure of the TTRT type industrial robot, modelling performed using Lagrangian formalism, and, taking into account the organological design elements that are part of the translation modules (the module attached to the robotic base - MTB Sil, the module in the vertical robotic arm MTV Sil, and the module in the mechanical structure of the horizontal robotic arm - MT Sil), the authors propose an energetic method of constructive optimization of the mechatronics system, according to which, translation modules can be arranged by applying the principle of interchangeable modularity so that energy consumption be minimum and not intervene on their organology. The paper highlights the dynamic-organological algorithm proposed in order to calculate motor moments and, hence, the selection of the DC servomotors necessary for setting the translation movable systems into service.