Contributions to the Constructive Optimization of an Orientation Module in the Structure of the TRR Industrial Robot

Abstract:

The author of the present paper proposes a constructive version, selected on the grounds of dynamic and organological equations, which enables an optimum design and operation of the (MO Sil) orientation module that possesses two degrees of freedom, to which the prehension device is attached, in the mechanical structure of the TRR-type serial modular industrial robot. This paper aims at highlighting the dynamic modelling of the mechanical structure of the TRR-type robot by using Lagrangian formalism, with aspects regarding the MO Sil module’s organological construction as well as with the 3D modelling of the orientation module in the mechanical structure of the robotic arm. Another important issue that this paper deals with is the mathematical-organological algorithm used for the selection of the servomotors actuating the orientation movable system in the mechanical structure of the robot.

• Periodical: Applied Mechanics and Materials (Volume 245)
• Pages: 267-273
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.245.267
• Online since: December 2012
• Authors: Silviu Mihai Petrişor, Ghiţă Bârsan
• Keywords: Design Systems, Dynamic Modeling, Industrial Robot, Optimization Problems

References

[1] A. Ghenadi, et al., Mechatronics – A Possible Module Option for the Technological Education of the Third Millennium, CNETTE, vol. 1, Todesco Publishing House, Cluj-Napoca, RO (2008), pp.28-34.

[2] Ramona-Mihaela Petrişor, Considération sur le "Partenariat" humain artificiel, Workshop Volume – Management and Advanced Technologies in Logistics Systems, Land Forces Academy Publishing House, Sibiu, RO (2011), pp.92-94.

[3] V. Ispas, Manipulators and Industrial Robots, Didactic and Pedagogic Publishing House, Bucharest, RO (2004), p.597.

[4] Gh. Bârsan, et al., Web-Pedagogy and e-Content in the Theory of Plastic Flow Field, The "Nicolae Bălcescu" Land Forces Academy Publishing House, Sibiu, RO (2008).

DOI: 10.24818/imc/2021/02.07

[5] A. Chişu, et al., Machine Parts, Didactic and Pedagogic Publishing House, Bucharest, RO (1981).

[6] P.J. McKerrow, Introductions to Robotics, Addison – Wesley Publ. Comp. (1995).

[7] S.M. Megahen, Principles of Robot Modelling and Simulation, John Willey and Sons (1993).

[8] M. Vukobratović, et al., Scientific Fundamentals of Robotics, Springer – Verlag, vol. 1-5, Berlin (1982).