THE DYNAMIC MODEL OF RTTRR SERIAL ROBOT – THE DETERMINATION OF THE GENERALIZED DRIVING FORCES
Journal Title: ACTA TECHNICA NAPOCENSIS, Series: Applied Mathematics, Mechanics, and Engineering - Year 2016, Vol 59, Issue 0
Abstract
The paper presents the final part of the determination of the dynamic model of RTTRR serial robot, consisting in the differential dynamic equations of the generalized driving forces, which take into account all the components of the mass distribution parameters and of the useful payload. The modeling process is accomplished using Newton-Euler’s formulation, implemented into the generalized modeling application Robot_Symbolic [1] and the obtained equations are useful in the simulation of the dynamic behavior of the analyzed robot.
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