Abstract
Serial robots are the most used today and among them, the most common is the basic 3R module, the module that is developed in the vast majority of anthropomorphic serial industrial robots, which today occupies at least 80-90% of the total industrial robots existing worldwide. One studied the kinematics and the forces in this module in other works, with an emphasis on the inverse kinematics, so that in this paper the authors will deal with the dynamic functioning of this 3R structure, a basic structure as it could be observed, because the dynamics which represent in fact the actual operation of the entire robotic structure is, therefore, the most important in operation, both for the optimal analysis or design of the robotic structure, as well as for its implementation or maintenance throughout its life. The paper presents the real dynamic functioning of the 3R structure, the related calculation relationships and the diagrams with the simulation of the real dynamic functioning of the 3R platform.
Highlights
The basic structure of the anthropomorphic robots used today massively in 80-90% cases from the industrial robots will be presented briefly, with the highlighting of an original method for determining the kinematics of the basic 3R module and with highlighting the forces at the basic structure set in the discussion
Angular velocities are considered constant and known of the two electric motors that operate the planar system discussed so that the kinematic angular accelerations are null, but due to the real dynamic operation for the element 2 there is a variation of the effective angular velocity and a non-zero angular acceleration is born
At element 3, which in the case of the considered model does not support another additional element, so no more additional loading, dynamics is equivalent to kinematics (Fig. 20-21)
Summary
The basic structure of the anthropomorphic robots used today massively in 80-90% cases from the industrial robots will be presented briefly, with the highlighting of an original method for determining the kinematics of the basic 3R module and with highlighting the forces at the basic structure set in the discussion. The paper is a basic one in the field and performs a recapitulation of how the basic anthropomorphic structures 3R are analyzed or designed correctly and quickly. Such repeated manipulations of heavy and dangerous objects can be done only with the help of a manipulator, which can be a crane, a specially designed trolley, a complicated robot or a simple manipulator as is the case for the one presented in the paper. An interior crane built on different systems walks through the respective hall to carry the heavy objects
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