Direct Geometry and Cinematic to the MP-3R Systems
- 1 Bucharest Polytechnic University, Romania
- 2 Second University of Naples, Italy
- 3 American University of Ras Al Khaimah, United Arab Emirates
Published On: 23 November 2017
Copyright: © 2020 Relly Victoria Petrescu, Raffaella Aversa, Bilal Akash, Antonio Apicella and Florian Ion Tiberiu Petrescu. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Mechatronic robotic systems are today widely used worldwide to ease human work, but especially where work is dangerous, in toxic, radioactive, chemical, explosive atmospheres, without air such as underwater or in the cosmos, or in places hard to reach the man. Robots can take the tedious repetitive work under any circumstances and they can perform a difficult operation for a long time, with no meal or rest breaks. They say the robots have stolen people's jobs. False! Robots have taken from man only those difficult jobs that baptized man and destroyed him. Robots have been created just as a prolongation of man as his real support in the faster, constantly accomplishing of difficult, repetitive, physically and mentally tired work and operations. Robots have emerged many years ago as a requirement of the automotive industry and especially that of road vehicles, especially automobiles. Meanwhile, they have diversified and branched a great deal in almost all industrial spheres. But the most important future of robots must be completely different. They have to help us conquer the cosmic space. The robot must become an extension of man in his divine mission of constructor and conqueror of the universe. Of all the types of industrial robots you use, the most common are the anthropomorphic serial robots, which is why we want to start studying and presenting the robots, with that generally common in robots, anthropomorphic serial systems. The kinematics of serial manipulators and robots will be exemplified for the 3R cinematic model to a medium difficulty system, ideal for understanding the actual phenomenon, but also for explaining the basic knowledge needed for calculating calculations and simpler or more complex systems. The fixed coordinate system was denoted by x0O0y0z0. The mobile systems (rigid) of the three mobile elements (1, 2, 3) have indices 1, 2 and 3. Their orientation was conveniently chosen but other orientations could be chosen. Known kinematic parameters in the direct kinematics are the absolute rotation angles of the three moving elements: φ10, φ20, φ30, angles related to the rotation of the three actuators (electric motors) mounted in the kinematic rotation couplers. The output parameters are the three absolute coordinates xM, yM, zM of point M, ie the kinematic parameters (coordinates) of the end-effector (the actuator element (the final), which can be a grasping hand, a solder tip, painted , cut, etc ...).
- Cinematic of the MP-3R Systems
- Kinematic Parameters