Abstract
The paper presents an algorithm of determination of the dynamic equations of an industrial robot with five degrees of freedom. The robot consists in: the vertical translation module, the arm rotation module, the translation module from the arm structure and the orientation module of the gripper, which has two degrees of freedom. After presenting the structural kinematic scheme of the robot, the Lagrange’s equations of the second kind are used, for the dynamic study. In this regard, the kinetic energy of the robot and the generalized driving forces are determined, which introduced into Lagrange’s equations, lead to the differential equations of the robot.
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References
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Ispas, V., Ispas, V., Simion, M., Detesan, O.A. (2010). Contributions to the Dynamic Study of a Modular Serial Industrial Robot of TRTRR Type. In: Visa, I. (eds) SYROM 2009. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-3522-6_24
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DOI: https://doi.org/10.1007/978-90-481-3522-6_24
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Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-3521-9
Online ISBN: 978-90-481-3522-6
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