Open AccessStudy of forces in a 2T9R robot mechanism
Author(s) -
Adriana Comănescu,
Alexandru Rotaru,
Florian Ion Tiberiu Petrescu
Publication year - 2021
Publication title -
independent journal of management and production
Language(s) - English
Resource type - Journals
ISSN - 2236-269X
DOI - 10.14807/ijmp.v12i9.1554
Subject(s) - mechanism (biology) , kinematics , inertia , robot , computer science , automation , function (biology) , inertial frame of reference , fictitious force , acceleration , simulation , control theory (sociology) , control engineering , classical mechanics , artificial intelligence , physics , mechanical engineering , engineering , control (management) , quantum mechanics , evolutionary biology , biology
The paper presents in detail a method of calculating the forces acting on a 2T9R type robot. In order to determine the reactions (forces in the kinematic couples), one must first determine the inertial forces in the mechanism to which one or more useful loads of the robot can be added. The torsor of the inertia forces is calculated with the help of the masses of the machine elements and the accelerations from the centers of mass of the mechanism elements, so the positions, velocities, and accelerations acting on it will be determined, i.e. its complete kinematics. The calculation method applied by a MathCad program intelligently uses data entry through the IFLOG logic function so that the calculations can be automated. So the effective automation of the calculation program is done exclusively through the IFLOG functions originally used in the paper.