Kinematic and dynamic study of a manipulator 1T6R

Detalhes bibliográficos
Autor(a) principal: Ungureanu, Liviu Marian
Data de Publicação: 2022
Outros Autores: NICULAE, Elisabeta, Petrescu, Florian Ion Tiberiu
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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spelling 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||
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