Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Presentation of the Transmission Functions to the Mechanism of a 2T6R Robot in Direct Kinematics, Deduced by Two Original Methods

Version 1 : Received: 25 February 2021 / Approved: 2 March 2021 / Online: 2 March 2021 (09:04:51 CET)

How to cite: Ungureanu, L.M.; Petrescu, F.I. Presentation of the Transmission Functions to the Mechanism of a 2T6R Robot in Direct Kinematics, Deduced by Two Original Methods. Preprints 2021, 2021030044 (doi: 10.20944/preprints202103.0044.v1). Ungureanu, L.M.; Petrescu, F.I. Presentation of the Transmission Functions to the Mechanism of a 2T6R Robot in Direct Kinematics, Deduced by Two Original Methods. Preprints 2021, 2021030044 (doi: 10.20944/preprints202103.0044.v1).

Abstract

The paper deals with the problems of direct kinematics related to a 2T6R robot, the direct kinematics of the plane mechanism of the robot. The direct kinematics of this proposed new robot help to study the movement, including the dynamic one, to determine the forces in the mechanism and to model the possible trajectories of the final effector point, thus determining the robot's working space and some of its multiple possible uses. Two totally different methods were used to verify the calculation relations, the results obtained by both methods being practically identical. The first method used is an original trigonometric method, and the second is an original geometrically analytical method.

Keywords

Mechanical transmissions; 2T6R robot; kinematic; direct kinematics.

Comments (0)

We encourage comments and feedback from a broad range of readers. See criteria for comments and our diversity statement.

Leave a public comment
Send a private comment to the author(s)
Views 0
Downloads 0
Comments 0
Metrics 0


×
Alerts
Notify me about updates to this article or when a peer-reviewed version is published.
We use cookies on our website to ensure you get the best experience.
Read more about our cookies here.