Kinematic and dynamic study of a manipulator 1T6R
Autor(a) principal: | |
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Data de Publicação: | 2022 |
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/1615 |
Resumo: | The paper presents in detail a method of calculating the forces acting on a 1T6R robot manipulator. To determine the reactions (forces in kinematic torques), you must first determine the inertial forces in the mechanism to which one or more payloads of the robot can be added. The torsion of the inertial forces is calculated using the masses of the machine elements and the accelerations at the centers of mass of the elements of the mechanism, so that the positions, speeds, and accelerations acting on it, ie its complete kinematics, will be determined. Equations of the dynamics are also determined through an original method. |
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Independent Journal of Management & Production |
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Kinematic and dynamic study of a manipulator 1T6RRobot1T6R robotForcesKinematicsDynamicsThe paper presents in detail a method of calculating the forces acting on a 1T6R robot manipulator. To determine the reactions (forces in kinematic torques), you must first determine the inertial forces in the mechanism to which one or more payloads of the robot can be added. The torsion of the inertial forces is calculated using the masses of the machine elements and the accelerations at the centers of mass of the elements of the mechanism, so that the positions, speeds, and accelerations acting on it, ie its complete kinematics, will be determined. Equations of the dynamics are also determined through an original method.Independent2022-07-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://www.ijmp.jor.br/index.php/ijmp/article/view/161510.14807/ijmp.v13i5.1615Independent Journal of Management & Production; Vol. 13 No. 5 (2022): Independent Journal of Management & Production; 1066-10922236-269X2236-269Xreponame: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/1615/2206Copyright (c) 2021 Dr. Eng. Liviu Marian Ungureanu, Dr. Eng. Elisabeta Niculae, Florian Ion Tiberiu Petrescuhttp://creativecommons.org/licenses/by-nc-sa/4.0info:eu-repo/semantics/openAccessUngureanu, Liviu Marian NICULAE, ElisabetaPetrescu, Florian Ion Tiberiu2022-07-01T14:47:47Zoai:www.ijmp.jor.br:article/1615Revistahttp://www.ijmp.jor.br/PUBhttp://www.ijmp.jor.br/index.php/ijmp/oaiijmp@ijmp.jor.br||paulo@paulorodrigues.pro.br||2236-269X2236-269Xopendoar:2022-07-01T14:47:47Independent Journal of Management & Production - Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)false |
dc.title.none.fl_str_mv |
Kinematic and dynamic study of a manipulator 1T6R |
title |
Kinematic and dynamic study of a manipulator 1T6R |
spellingShingle |
Kinematic and dynamic study of a manipulator 1T6R Ungureanu, Liviu Marian Robot 1T6R robot Forces Kinematics Dynamics |
title_short |
Kinematic and dynamic study of a manipulator 1T6R |
title_full |
Kinematic and dynamic study of a manipulator 1T6R |
title_fullStr |
Kinematic and dynamic study of a manipulator 1T6R |
title_full_unstemmed |
Kinematic and dynamic study of a manipulator 1T6R |
title_sort |
Kinematic and dynamic study of a manipulator 1T6R |
author |
Ungureanu, Liviu Marian |
author_facet |
Ungureanu, Liviu Marian NICULAE, Elisabeta Petrescu, Florian Ion Tiberiu |
author_role |
author |
author2 |
NICULAE, Elisabeta Petrescu, Florian Ion Tiberiu |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
Ungureanu, Liviu Marian NICULAE, Elisabeta Petrescu, Florian Ion Tiberiu |
dc.subject.por.fl_str_mv |
Robot 1T6R robot Forces Kinematics Dynamics |
topic |
Robot 1T6R robot Forces Kinematics Dynamics |
description |
The paper presents in detail a method of calculating the forces acting on a 1T6R robot manipulator. To determine the reactions (forces in kinematic torques), you must first determine the inertial forces in the mechanism to which one or more payloads of the robot can be added. The torsion of the inertial forces is calculated using the masses of the machine elements and the accelerations at the centers of mass of the elements of the mechanism, so that the positions, speeds, and accelerations acting on it, ie its complete kinematics, will be determined. Equations of the dynamics are also determined through an original method. |
publishDate |
2022 |
dc.date.none.fl_str_mv |
2022-07-01 |
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/1615 10.14807/ijmp.v13i5.1615 |
url |
http://www.ijmp.jor.br/index.php/ijmp/article/view/1615 |
identifier_str_mv |
10.14807/ijmp.v13i5.1615 |
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/1615/2206 |
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 |
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. 13 No. 5 (2022): Independent Journal of Management & Production; 1066-1092 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_ |
1797220494049542144 |