THE DYNAMIC STUDY OF THE SUSPENDED TTRT SERIAL
MODULAR ROBOT
From the dynamic studies performed on a family of robots proposed to
serve the radiators flow process, made at SC RAAL SA Bistriţa, the authors
present in this paper the dynamic study of serial modular robot suspended
TTRT. Using the Lagrange’s equations of second kind, the robot’s dynamic
equations were derived.
The algorithm which leads to the dynamic equations includes: the
kinetic energy of the robot, after, in advance, the kinetic energies of the
component modules were determined and the generalized driving forces were
established.
The dynamic study of the robot allows the calculation of the actuators
and determining the optimal variant of arrangement of the modules in the robot
structure, so that the energy consumption will be minimal.
Keywords: Lagrange equations, radiator, kinetic energy, motors
generalized forces, actuator, dynamic equations
Cuvinte cheie: ecuaţiile lui Lagrange, radiator, energie cinetică, forţe
generalizate motoare, motor de acţionare, ecuaţii dinamice
