INVERSE DYNAMICS OF THE CINCINNATI-MILACRON WRIST ROBOT
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2010, Vol 55, Issue 1
Abstract
Recursive matrix relations in dynamics of the Cincinnati-Milacron wrist robot are established in this paper. The prototype of this mechanism is a three-degrees-of freedom spherical system with six moving links and three bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position and the rotation motion of the end-effector are known, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but the results have been verified in the framework of the Lagrange equations of second kind. Finally, some recursive matrix relations and some graphs for the torques and the powers of the actuators are obtained.
Authors and Affiliations
Ştefan STAICU
Keywords
Related Articles
- EP ID EP160286
- DOI -
- Views 71
- Downloads 0
BRANCHED SYSTEMS WITH NONLINEAR KINEMATICS – COMPUTER-AIDED ANALYSIS & DESIGN
This paper presents a computer-aided modeling way of the branched systems with nonlinear kinematics that make possible the design and the analysis, as well. Being very complex systems, the elasto-dynamic study of the rea...
STOCHASTIC LINEARIZATION OF SYSTEMS WITH HYSTERETIC CHARACTERISTICS
In this paper is presented a linearization method for a stochastic differential system with hysteretic characteristics and random excitation. The Gaussian equivalent linearization technique is applied to a system with hy...
DISCRETE MATHEMATICAL FILTERS OF VIDEO INFORMATION PROCESSING FOR AUTOMATIC IMAGE COMPONENTS DETECTION AND MARKING
In this paper we shall discretize two classes of mathematical filters intended for the video image analysis with the purpose to automatically detect and mark the components that these images contain. Unlike the classical...
GAS TURBINE AS RANGE EXTENDER FOR FUTURE ELECTRIC AUTOMOBILES
The propulsion of automobiles by motors, especially by hub motors, integrated into the wheels, offers remarkable advantages in terms of vehicle dynamics, stability and freedom of movement. But the most important benefit...
PROBABILISTIC SEISMIC VULNERABILITY ANALYSIS OF REINFORCED CONCRETE COLUMNS
Estimating the response of reinforced concrete columns to a transitory action, represented by a ground motion, is an uncertain task. The randomness of the seismic event and that of the response should be accounted for. T...