Volumul 19

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

109 STUDIUL DINAMIC AL ROBOTULUI SERIAL MODULAR

THE COMPARATIVE ANALYSIS OF CHOOSING
ACTUATORS OF THE PROPOSED ROBOTS
AT THE RADIATORS PRESERVATION
În this paper is presented a comparative analysis of the designed
robots in terms of energies consumptions. Having the dynamic analysis, the
choosen types engine and their characteristics, the comparative analysis can
be done. Following the analysis, it is recommended to build the robots: RT,
RTT, suspended TRT and TTRT.
Keywords: benchmarking, Preservation, radiator, engine actuators, immersion
Cuvinte cheie: analiză comparativă, pastare, radiator, motor de
acţionare, imersare

112 ANALIZĂ COMPARATIVĂ PRIVIND ALEGEREA

ASPECTS OF THE CONSTRUCTION AND IMPLEMENTATION
OF FAMILY ROBOTS PROPOSED TO BE USED AT THE
RADIATORS PRESERVATION
The authors have concepted, calculated and designed a family of
industrial robots, possessing two, three, four degrees of freedom, made at SC
RAAL SA Bistriţa for the radiators preservation. Taking into account the
dynamics of each robot and the mechanical structure of the modules from the
robots construction, the calculations of choosing the engines, were determined.
In the paper are presented the TR, RT, TRT, TTRT robots
implemented in the preservation of the radiators. În the second part of the
paper was presented a comparative analysis of the designed robots in terms of
energies consumptions. Following the analysis, it is recommended to build the
robots: RT, RTT, suspended TRT and TTRT.
Keywords: energy consumption, Preservation, radiator, robot dynamics
Cuvinte cheie: consum energetic, pastare, radiator, dinamica robotului

113 ASPECTE ALE CONSTRUCŢIEI ŞI IMPLEMENTĂRII

THE CALCULATION OF THE ACTUATORS FOR THE
SUSPENDED TTRT INDUSTRIAL ROBOT
In this paper are calculated the actuators, considering the whole robot
dynamics and the mechanical structure of each module. This calculation
involves the following steps: the identification from the established system of
differential equations, the differential equation for each module; depending on
the construction of each module, the relation between the driving force from the
output mode and the actuators power is established; the introduction of the
driving force expression in the motion differential equation; using the imposed
or calculated numerical data the report from this equation is determined;
the determination of the actuator’s moment M and the choosing from a
actuator’s catalogue the actuator that has the moment value higher than
calculated.
n
Keywords: robot, actuator, mechanical structure, power engines,
differential equation
Cuvinte cheie: robot, motor de acţionare, structură mecanică, forţă
motoare, ecuaţie diferenţială

114 CALCULUL MOTOARELOR DE ACŢIONARE PENTRU

THE CONCEPT AND DESIGN OF THE SUSPENDED TTTR
AND TTRT SERIAL MODULAR ROBOTS
This paper presents the concept and design of the suspended TTRT
and TTTR serial robots, prepared for the radiators flow operation, made at SC
RAAL SA Bistriţa. The modular construction of the robots was opted. Thus, the
supporting structure of the robots, the longitudinal translation modules and the
horizontal transverse, the drive mechanisms, the translation sled, the
translation sleepers, the vertical translation and rotation modules were
designed. All of these subassemblies were included in the assemble of TTRT
and TTTR robots. In the final part of the paper the authors make reference to
the comand and control operating system of the robots.
Keywords: Longitudinal translational mode, the translation cross, drive
mechanism, translational sled, drive system
Cuvinte cheie: modul de translaţie longitudinală, traversă de translaţie,
mecanism de antrenare, sania de translaţie, sistem de acţionare

115 CONCEPŢIA ŞI PROIECTAREA ROBOŢILOR