Active Groups in Complex Mechanisms Structures

  • Adriana Comanescu
  • Dinu Comanescu
  • Ioan Dan Filipoiu
  • Cristian Gabriel Alionte
Conference paper

Abstract

The paper deals with some active modular groups usually used in the direct structure model of the leg robots or other complex equipment. Such open, un-composed and multi-mobile groups may also be involved in the direct – cinematic or dynamic modeling of the robot displacement for different strategies of motion. There are presented active modular groups with one degree of mobility (the initial active group IAG, the 4R and RTRR active group) and the 5R active modular group with two degrees of mobility. By using the inertia systems and the other external force systems their dynamic models for the determination of all reaction torque components in each (ordinary or active) cinematic pair are elaborated.

Keywords

direct model active modular group stepping robot or platform dynamic control parameter optimal control design 

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References

  1. [1]
    Comanescu, D., Comanescu, A., “Displacement Models for Star-Stop Platforms”, Mecatronica, ISSN 1583-7653, p.27-31,2004;Google Scholar
  2. [2]
    Comanescu, A., Comanescu, D., “Bi-Mobile Structures Optimally Associated to Inverse Modules from Robotics and Mechatronics”, Rev. Constr.de Masini, no.6, pp.22-26, 1998.Google Scholar

Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Adriana Comanescu
    • 1
  • Dinu Comanescu
    • 1
  • Ioan Dan Filipoiu
    • 1
  • Cristian Gabriel Alionte
    • 1
  1. 1.University POLITEHNICABucharestRomania

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