Research Article Open Access

The Study of the Dynamics of a Basic DoF Robot

Relly Victoria Virgil Petrescu1
  • 1 Department of Transportation, Traffic and Logistics, Bucharest Polytechnic University, Bucharest, Romania

Abstract

The paper presents the study of the dynamics of a general DoF robot, highlighting some important new aspects in the dynamic design of a certain DoF robot. An improved method of positioning the robot in inverse kinematics is presented, then some new aspects in approaching the forces acting on a robot, but also regarding the determination of loads of the rotary actuators. Finally, a study is made of the dynamic functioning of the robot, with new and interesting aspects.

American Journal of Engineering and Applied Sciences
Volume 15 No. 4, 2022, 303-315

DOI: https://doi.org/10.3844/ajeassp.2022.303.315

Submitted On: 13 November 2022 Published On: 16 December 2022

How to Cite: Virgil Petrescu, R. V. (2022). The Study of the Dynamics of a Basic DoF Robot. American Journal of Engineering and Applied Sciences, 15(4), 303-315. https://doi.org/10.3844/ajeassp.2022.303.315

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Keywords

  • Kinematics
  • Nonlinear Dynamics
  • Forces
  • DoF Robot Mechanism
  • Kinetic Energy Conservation