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.
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Keywords: robot, actuator, mechanical structure, power engines,
differential equation
Cuvinte cheie: robot, motor de acţionare, structură mecanică, forţă
motoare, ecuaţie diferenţială
