The Study of the Dynamics of a Basic DoF Robot

American journal of engineering and applied sciences

article

Relly Victoria Virgil Petrescu¹ 

[1] Department of Transportation, Traffic and Logistics, Bucharest Polytechnic University

关键词: Kinematics;    Nonlinear Dynamics;    Forces;    DoF Robot Mechanism;    Kinetic Energy Conservation;   

DOI  :  10.3844/ajeassp.2022.303.315

学科分类：工程和技术（综合）

来源: Science Publications

【 摘 要 】

The paper presents the study of the dynamics of a general DoF robot, highlighting some important new aspects in the dynamic design of a certain DoF robot. An improved method of positioning the robot in inverse kinematics is presented, then some new aspects in approaching the forces acting on a robot, but also regarding the determination of loads of the rotary actuators. Finally, a study is made of the dynamic functioning of the robot, with new and interesting aspects.

【 授权许可】

CC BY