Open AccessPositional modeling of the 2T6R robot mechanism
Author(s) -
Adriana Comănescu,
Alexandru Rotaru,
Liviu Marian Ungureanu,
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.v12i9.1563
Subject(s) - kinematics , mechanism (biology) , inverse kinematics , computer science , function (biology) , simple (philosophy) , robot , inverse , control theory (sociology) , point (geometry) , algorithm , set (abstract data type) , robot end effector , cad , simulation , mathematics , artificial intelligence , geometry , engineering drawing , physics , engineering , programming language , control (management) , classical mechanics , philosophy , epistemology , quantum mechanics , evolutionary biology , biology
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.