Research Article Open Access

Velocities and Accelerations at the 3R Mechatronic Systems

Relly Victoria V. Petrescu1, Raffaella Aversa2, Bilal Akash3, Ronald B. Bucinell4, Antonio Apicella2 and Florian Ion T. Petrescu1
  • 1 Bucharest Polytechnic University, Romania
  • 2 Second University of Naples, Italy
  • 3 American University of Ras Al Khaimah, United Arab Emirates
  • 4 Union College, United States


This article presents an original method to determine the speeds and accelerations to structures MP R-3 The structure of the 3R (space) are known (required) rotation speeds of the triggers and must be determined speeds and accelerations of the endeffector M. Starting from the positions of direct kinematic system MP R-3deriving these system of relations in depending on the time, once and then a second time (the second derivation) is first obtains the speeds of the system and for the second time the accelerations endeffector point M. System on which must be resolved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axis of rotation). In the case where a study (analysis) a robot anthropomorphic with three axis of rotation (which represents the main movements, it is absolutely necessary), already has a system of the basis on which it can add other movements (secondary,). All calculations have been arranged and in the form of the array.

American Journal of Engineering and Applied Sciences
Volume 10 No. 1, 2017, 252-263


Submitted On: 2 January 2017 Published On: 20 March 2017

How to Cite: Petrescu, R. V. V., Aversa, R., Akash, B., Bucinell, R. B., Apicella, A. & Petrescu, F. I. T. (2017). Velocities and Accelerations at the 3R Mechatronic Systems. American Journal of Engineering and Applied Sciences, 10(1), 252-263.

  • 3 Citations



  • Anthropomorphic Robots
  • Direct Kinematics
  • 3R Systems
  • Matrix Systems
  • Velocities
  • Accelerations