Positional modeling of the 2T6R robot mechanism
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Independent Journal of Management & Production |
Texto Completo: | http://www.ijmp.jor.br/index.php/ijmp/article/view/1563 |
Resumo: | The positional modeling of the 2T6R robot mechanism is done for inverse kinematics, i.e. when the imposed positions of the end effector T, imposed, belonging to the final element 3, are known and the necessary positions and speeds of the two input motors, the two leading elements, are determined, 1 and 6. It is proposed to solve a simple algorithm in the program MathCad 2000, which uses for initiation the logical function If Log. The kinematic output parameters, i.e. the parameters of the foot and practically of the final effector, i.e. those of the point marked with T, will be determined for initiating the working algorithm using the logical functions, "If log (ical)", with the observation that here plays the role of parameters input; is positioned as already specified in reverse kinematics when the output is considered as input and input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad 2000. |
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Independent Journal of Management & Production |
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Positional modeling of the 2T6R robot mechanismMath CadRobot2T6R robotKinematicsInverse kinematicsThe positional modeling of the 2T6R robot mechanism is done for inverse kinematics, i.e. when the imposed positions of the end effector T, imposed, belonging to the final element 3, are known and the necessary positions and speeds of the two input motors, the two leading elements, are determined, 1 and 6. It is proposed to solve a simple algorithm in the program MathCad 2000, which uses for initiation the logical function If Log. The kinematic output parameters, i.e. the parameters of the foot and practically of the final effector, i.e. those of the point marked with T, will be determined for initiating the working algorithm using the logical functions, "If log (ical)", with the observation that here plays the role of parameters input; is positioned as already specified in reverse kinematics when the output is considered as input and input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad 2000.Independent2021-12-21info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdftext/htmlhttp://www.ijmp.jor.br/index.php/ijmp/article/view/156310.14807/ijmp.v12i9.1563Independent Journal of Management & Production; Vol. 12 No. 9 (2021): Independent Journal of Management & Production (Special Edition IFLOG); s902-s9212236-269X2236-269Xreponame:Independent Journal of Management & Productioninstname:Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)instacron:IJM&Penghttp://www.ijmp.jor.br/index.php/ijmp/article/view/1563/2072http://www.ijmp.jor.br/index.php/ijmp/article/view/1563/2073Copyright (c) 2021 Prof. Dr. Eng. Adriana Comanescu, Dr. Eng. Alexandra Rotaru, Dr. Eng. Liviu Marian Ungureanu, Florian Ion Tiberiu Petrescuhttp://creativecommons.org/licenses/by-nc-sa/4.0info:eu-repo/semantics/openAccessComanescu, AdrianaRotaru, AlexandraUngureanu, Liviu MarianPetrescu, Florian Ion Tiberiu2021-12-21T11:59:38Zoai:www.ijmp.jor.br:article/1563Revistahttp://www.ijmp.jor.br/PUBhttp://www.ijmp.jor.br/index.php/ijmp/oaiijmp@ijmp.jor.br||paulo@paulorodrigues.pro.br||2236-269X2236-269Xopendoar:2021-12-21T11:59:38Independent Journal of Management & Production - Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)false |
dc.title.none.fl_str_mv |
Positional modeling of the 2T6R robot mechanism |
title |
Positional modeling of the 2T6R robot mechanism |
spellingShingle |
Positional modeling of the 2T6R robot mechanism Comanescu, Adriana Math Cad Robot 2T6R robot Kinematics Inverse kinematics |
title_short |
Positional modeling of the 2T6R robot mechanism |
title_full |
Positional modeling of the 2T6R robot mechanism |
title_fullStr |
Positional modeling of the 2T6R robot mechanism |
title_full_unstemmed |
Positional modeling of the 2T6R robot mechanism |
title_sort |
Positional modeling of the 2T6R robot mechanism |
author |
Comanescu, Adriana |
author_facet |
Comanescu, Adriana Rotaru, Alexandra Ungureanu, Liviu Marian Petrescu, Florian Ion Tiberiu |
author_role |
author |
author2 |
Rotaru, Alexandra Ungureanu, Liviu Marian Petrescu, Florian Ion Tiberiu |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Comanescu, Adriana Rotaru, Alexandra Ungureanu, Liviu Marian Petrescu, Florian Ion Tiberiu |
dc.subject.por.fl_str_mv |
Math Cad Robot 2T6R robot Kinematics Inverse kinematics |
topic |
Math Cad Robot 2T6R robot Kinematics Inverse kinematics |
description |
The positional modeling of the 2T6R robot mechanism is done for inverse kinematics, i.e. when the imposed positions of the end effector T, imposed, belonging to the final element 3, are known and the necessary positions and speeds of the two input motors, the two leading elements, are determined, 1 and 6. It is proposed to solve a simple algorithm in the program MathCad 2000, which uses for initiation the logical function If Log. The kinematic output parameters, i.e. the parameters of the foot and practically of the final effector, i.e. those of the point marked with T, will be determined for initiating the working algorithm using the logical functions, "If log (ical)", with the observation that here plays the role of parameters input; is positioned as already specified in reverse kinematics when the output is considered as input and input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad 2000. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-12-21 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://www.ijmp.jor.br/index.php/ijmp/article/view/1563 10.14807/ijmp.v12i9.1563 |
url |
http://www.ijmp.jor.br/index.php/ijmp/article/view/1563 |
identifier_str_mv |
10.14807/ijmp.v12i9.1563 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
http://www.ijmp.jor.br/index.php/ijmp/article/view/1563/2072 http://www.ijmp.jor.br/index.php/ijmp/article/view/1563/2073 |
dc.rights.driver.fl_str_mv |
http://creativecommons.org/licenses/by-nc-sa/4.0 info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
http://creativecommons.org/licenses/by-nc-sa/4.0 |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf text/html |
dc.publisher.none.fl_str_mv |
Independent |
publisher.none.fl_str_mv |
Independent |
dc.source.none.fl_str_mv |
Independent Journal of Management & Production; Vol. 12 No. 9 (2021): Independent Journal of Management & Production (Special Edition IFLOG); s902-s921 2236-269X 2236-269X reponame:Independent Journal of Management & Production instname:Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP) instacron:IJM&P |
instname_str |
Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP) |
instacron_str |
IJM&P |
institution |
IJM&P |
reponame_str |
Independent Journal of Management & Production |
collection |
Independent Journal of Management & Production |
repository.name.fl_str_mv |
Independent Journal of Management & Production - Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP) |
repository.mail.fl_str_mv |
ijmp@ijmp.jor.br||paulo@paulorodrigues.pro.br|| |
_version_ |
1797220494007599104 |