THE ENERGY METHOD OF CONSTRUCTIVE OPTIMIZATION FOR THE SERIAL MODULAR ROBOTS WITH THREE DEGREES OF FREEDOM

被引：0
|
作者：
Ispas, Virgil
Detesan, Ovidiu Aurelian
机构：
来源：
ANNALS OF DAAAM FOR 2009 & PROCEEDINGS OF THE 20TH INTERNATIONAL DAAAM SYMPOSIUM | 2009年 / 20卷
关键词：
serial robots; optimization; energy method;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents an original method of modules arrangement in a mechanical structure of modular serial robot with six degrees of freedom. The method involves the following steps.. establishing the differential equations of motion for the TRTI and RTT robots, choosing the variation laws of accelerations, choosing the constructive mechanical parameters (dimensions, masses, moments of inertia, gravity forces) and obtaining the variation laws of the active forces and moments. The optimum variant for modules arrangement is translation-rotation-translation, corresponding to the TRTI robot, obtained by analyzing the numerical and graphical results.
引用
收藏
页码：1633 / 1634
页数：2
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