Journal
INDEPENDENT JOURNAL OF MANAGEMENT & PRODUCTION
Volume 13, Issue 5, Pages 1066-1092Publisher
INST FEDERAL EDUCACAO, CIENCIA & TECNOLOGIA SAO PAULO
DOI: 10.14807/ijmp.v13i5.1615
Keywords
Robot; 1T6R robot; Forces; Kinematics; Dynamics
Categories
Funding
- UPB, Stand for reading performance parameters of kinematics and dynamic mechanisms, using inductive and incremental encoders, to a Mitsubishi Mechatronic System [35/22.01.2013, PN-II-IN-CI-2012-1-0389]
- [36-5-4D/1986]
- [24IV1985]
- [19-91-3]
- [GR 69/10.05.2007: NURC in 2762]
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The paper presents a method for calculating the forces acting on a 1T6R robot manipulator, which involves determining the inertia forces and kinematic parameters to derive the dynamics equations of the manipulator.
The paper presents in detail a method of calculating the forces acting on a 1T6R robot manipulator. To determine the reactions (forces in kinematic torques), you must first determine the inertial forces in the mechanism to which one or more payloads of the robot can be added The torsion of the inertial forces is calculated using the masses of the machine elements and the accelerations at the centers of mass of the elements of the mechanism, so that the positions, speeds, and accelerations acting on it, ie its complete kinematics, will be determined Equations of the dynamics are also determined through an original method.
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