Direct kinematics of a manipulator with three mobilities
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Abstract
In the industrial halls it is often necessary to handle large objects, with a large and large table, which have to be transported not over long distances but moved from one place to another, raised, then lowered to various levels, left or right. Such repeated manipulations of heavy and dangerous objects can be done only with the help of a manipulator, which can be a crane, a specially designed trolley, a complicated robot or a simple manipulator as is the case for the one presented in the paper. The paper briefly presents the kinematic study of a manipulator with three mobilities, which can be used both in industrial halls and in garages, depending on its suitably chosen constructive size, which at smaller dimensions can be handled very easily. This manipulator can carry large loads, thus easing the work of the human being and preventing it from major dangers that can occur during the transport of large pieces and a large mass.
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Petrescu, R. V., Aversa, R., Akash, B., Ronald, B., & Corchado, J. (2017b). Velocities and accelerations at the 3R mechatronic systems. Am. J. Eng. Applied Sci., 10, 252-263. DOI: 10.3844/ajeassp.2017.252.263
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017c). Anthropomorphic solid structures n-r kinematics. Am. J. Eng. Applied Sci., 10, 279-291. DOI: 10.3844/ajeassp.2017.279.291
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017d). Inverse kinematics at the anthropomorphic robots, by a trigonometric method. Am. J. Eng. Applied Sci., 10, 394-411. DOI: 10.3844/ajeassp.2017.394.411
Petrescu, R. V., Aversa, R., Apicella, A., & Kozaitis, S. (2018a). NASA started a propeller set on board voyager 1 after 37 years of break. Am. J. Eng. Applied Sci., 11, 66-77. DOI: 10.3844/ajeassp.2018.66.77
Petrescu, R. V., Aversa, R., Apicella, A., & Kozaitis, S. (2018b). There is life on mars? Am. J. Eng. Applied Sci., 11, 78-91. DOI: 10.3844/ajeassp.2018.78.91
Petrescu, R. V., Aversa, R., Apicella, A., & Petrescu, F. I. T. (2018c). Friendly environmental transport. Am. J. Eng. Applied Sci., 11, 154-165. DOI: 10.3844/ajeassp.2018.154.165
Petrescu, R. V., Aversa, R., Akash, B., Abu-Lebdeh, T. M., & Apicella, A. (2018d). Buses running on gas. Am. J. Eng. Applied Sci., 11, 186-201. DOI: 10.3844/ajeassp.2018.186.201
Petrescu, R. V., Aversa, R., Akash, B., Abu-Lebdeh, T. M., & Apicella, A. (2018e). Some aspects of the structure of planar mechanisms. Am. J. Eng. Applied Sci., 11, 245-259. DOI: 10.3844/ajeassp.2018.245.259
Petrescu, R. V., Aversa, R., Abu-Lebdeh, T. M., Apicella, A., & Petrescu, F. I. T. (2018f). The forces of a simple carrier manipulator. Am. J. Eng. Applied Sci., 11, 260-272. DOI: 10.3844/ajeassp.2018.260.272
Petrescu, R. V., Aversa, R., Abu-Lebdeh, T. M., Apicella, A., & Petrescu, F. I. T. (2018g). The dynamics of the otto engine. Am. J. Eng. Applied Sci., 11, 273-287. DOI: 10.3844/ajeassp.2018.273.287
Petrescu, R. V., Aversa, R., Abu-Lebdeh, T. M., Apicella, A., & Petrescu, F. I. T. (2018h). NASA satellites help us to quickly detect forest fires. Am. J. Eng. Applied Sci., 11, 288-296. DOI: 10.3844/ajeassp.2018.288.296
Petrescu, R. V., Aversa, R., Abu-Lebdeh, T. M., Apicella, A., & Petrescu, F. I. T. (2018i). Kinematics of a mechanism with a triad. Am. J. Eng. Applied Sci., 11, 297-308. DOI: 10.3844/ajeassp.2018.297.308
Petrescu, R. V., Aversa, R., Apicella, A., & Petrescu, F. I. T. (2018j). Romanian engineering "on the wings of the wind". J. Aircraft Spacecraft Technol., 2, 1-18. DOI: 10.3844/jastsp.2018.1.18
Petrescu, R. V., Aversa, R., Apicella, A., & Petrescu, F. I. T. (2018k). NASA Data used to discover eighth planet circling distant star. J. Aircraft Spacecraft Technol., 2, 19-30. DOI: 10.3844/jastsp.2018.19.30
Petrescu, R. V., Aversa, R., Apicella, A., & Petrescu, F. I. T. (2018l). NASA has found the most distant black hole. J. Aircraft Spacecraft Technol., 2, 31-39. DOI: 10.3844/jastsp.2018.31.39
Petrescu, R. V., Aversa, R., Apicella, A., & Petrescu, F. I. T. (2018m). Nasa selects concepts for a new mission to titan, the moon of saturn. J. Aircraft Spacecraft Technol., 2, 40-52. DOI: 10.3844/jastsp.2018.40.52
Petrescu, R. V., Aversa, R., Apicella, A., & Petrescu, F. I. T. (2018n). NASA sees first in 2018 the direct proof of ozone hole recovery. J. Aircraft Spacecraft Technol., 2, 53-64. DOI: 10.3844/jastsp.2018.53.64
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017a). Yield at thermal engines internal combustion. Am. J. Eng. Applied Sci., 10, 243-251. DOI: 10.3844/ajeassp.2017.243.251
Petrescu, R. V., Aversa, R., Akash, B., Ronald, B., & Corchado, J. (2017b). Velocities and accelerations at the 3R mechatronic systems. Am. J. Eng. Applied Sci., 10, 252-263. DOI: 10.3844/ajeassp.2017.252.263
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017c). Anthropomorphic solid structures n-r kinematics. Am. J. Eng. Applied Sci., 10, 279-291. DOI: 10.3844/ajeassp.2017.279.291
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017d). Inverse kinematics at the anthropomorphic robots, by a trigonometric method. Am. J. Eng. Applied Sci., 10, 394-411. DOI: 10.3844/ajeassp.2017.394.411
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017e). Forces at internal combustion engines. Am. J. Eng. Applied Sci., 10, 382-393. DOI: 10.3844/ajeassp.2017.382.393
Petrescu, R. V., Aversa, R., S. Kozaitis, Apicella, A., & Petrescu, F. I. T. (2017l). The quality of transport and environmental protection, part I. Am. J. Eng. Applied Sci., 10, 738-755. DOI: 10.3844/ajeassp.2017.738.755
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017m). Modern propulsions for aerospace-a review. J. Aircraft Spacecraft Technol., 1, 1-8. DOI: 10.3844/jastsp.2017.1.8
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017n). Modern propulsions for aerospace-part II. J. Aircraft Spacecraft Technol., 1, 9-17. DOI: 10.3844/jastsp.2017.9.17
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017o). History of aviation-a short review. J. Aircraft Spacecraft Technol., 1, 30-49. DOI: 10.3844/jastsp.2017.30.49
Petrescu, R. V., Aversa, R., Akash, B., Bucinell, R., & Corchado, J. (2017p). Lockheed martin-a short review. J. Aircraft Spacecraft Technol., 1, 50-68. DOI: 10.3844/jastsp.2017.50.68
Petrescu, R. V., Aversa, R., Akash, B., & Corchado, J. (2017q). Our universe. J. Aircraft Spacecraft Technol., 1, 69-79. DOI: 10.3844/jastsp.2017.69.79
Petrescu, R. V., Aversa, R., Akash, B., & Corchado, J. (2017r). What is a UFO? J. Aircraft Spacecraft Technol., 1, 80-90. DOI: 10.3844/jastsp.2017.80.90
Petrescu, R. V., Aversa, R., Akash, B., & Corchado, J. (2017s). About bell helicopter FCX-001 concept aircraft-a short review. J. Aircraft Spacecraft Technol., 1, 91-96. DOI: 10.3844/jastsp.2017.91.96
Petrescu, R. V., Aversa, R., Apicella, A., & Kozaitis, S. (2018a). NASA started a propeller set on board voyager 1 after 37 years of break. Am. J. Eng. Applied Sci., 11, 66-77. DOI: 10.3844/ajeassp.2018.66.77
Petrescu, R. V., Aversa, R., Apicella, A., & Kozaitis, S. (2018b). There is life on mars? Am. J. Eng. Applied Sci., 11, 78-91. DOI: 10.3844/ajeassp.2018.78.91
Petrescu, R. V., Aversa, R., Apicella, A., & Petrescu, F. I. T. (2018c). Friendly environmental transport. Am. J. Eng. Applied Sci., 11, 154-165. DOI: 10.3844/ajeassp.2018.154.165
Petrescu, R. V., Aversa, R., Akash, B., Abu-Lebdeh, T. M., & Apicella, A. (2018d). Buses running on gas. Am. J. Eng. Applied Sci., 11, 186-201. DOI: 10.3844/ajeassp.2018.186.201
Petrescu, R. V., Aversa, R., Akash, B., Abu-Lebdeh, T. M., & Apicella, A. (2018e). Some aspects of the structure of planar mechanisms. Am. J. Eng. Applied Sci., 11, 245-259. DOI: 10.3844/ajeassp.2018.245.259
Petrescu, R. V., Aversa, R., Abu-Lebdeh, T. M., Apicella, A., & Petrescu, F. I. T. (2018f). The forces of a simple carrier manipulator. Am. J. Eng. Applied Sci., 11, 260-272. DOI: 10.3844/ajeassp.2018.260.272
Petrescu, R. V., Aversa, R., Abu-Lebdeh, T. M., Apicella, A., & Petrescu, F. I. T. (2018g). The dynamics of the otto engine. Am. J. Eng. Applied Sci., 11, 273-287. DOI: 10.3844/ajeassp.2018.273.287
Petrescu, F. I. T., & Petrescu, R. V. V. (2019a). Nuclear hydrogen structure and dimensions. Int. J. Hydrogen Energy, 44, 10833-10837. DOI: 10.1016/J.IJHYDENE.2019.02.140
Petrescu, R. V. V. (2019a). About the Space Robots. Journal of Mechatronics and Robotics 3, 1-32. DOI: 10.3844/jmrsp.2019.1.32
Petrescu, R. V. V. (2019c). Dynamics at Classical Distribution. Journal of Mechatronics and Robotics 3, 82-101. DOI: 10.3844/jmrsp.2019.82.101
Petrescu, R. V. V. (2019d). Time Factory. Journal of Mechatronics and Robotics 3, 102-121. DOI: 10.3844/jmrsp.2019.102.121
Petrescu, R. V. V. (2019e). About Robotics, Mechatronics and Automation that Help us Conquer the Cosmic Space. Journal of Mechatronics and Robotics 3, 129-155. DOI: 10.3844/jmrsp.2019.129.155
Petrescu, R. V. V. (2019h). Face Recognition as a Biometric Application. Journal of Mechatronics and Robotics 3, 237-257. DOI: 10.3844/jmrsp.2019.237.257
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Pourmahmoud, N. (2008). Rarefied gas flow modeling inside rotating circular cylinder. Am. J. Eng. Applied Sci., 1, 62-65. DOI: 10.3844/ajeassp.2008.62.65
Pravettoni, M., Lòpez, C. S. P., & Kenny, R. P. (2016). Impact of the edges of a backside diffusive reflector on the external quantum efficiency of luminescent solar concentrators: Experimental and computational approach. Am. J. Eng. Applied Sci., 9, 53-63. DOI: 10.3844/ajeassp.2016.53.63
Qutbodin, K. (2010). Merging autopilot/flight control and navigation-flight management systems. Am. J. Eng. Applied Sci., 3, 629-630. DOI: 10.3844/ajeassp.2010.629.630
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Rajput, R.S., Pandey, S., & Bhadauria, S. (2016). Correlation of biodiversity of algal genera with special reference to the waste water effluents from industries. Am. J. Eng. Applied Sci., 9, 1127-1133. DOI: 10.3844/ajeassp.2016.1127.1133
Rajupillai, K., Palaniammal, S., & Bommuraju, K. (2015). Computational intelligence and application of frame theory in communication systems. Am. J. Eng. Applied Sci., 8, 633-637. DOI: 10.3844/ajeassp.2015.633.637
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Riccio, A., Cristiano, R., & Saputo, S. (2016b). A brief introduction to the bird strike numerical simulation. Am. J. Eng. Applied Sci., 9, 946-950. DOI: 10.3844/ajeassp.2016.946.950
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Rohit, K., & Dixit, S. (2016). Mechanical properties of waste Biaxially Oriented Polypropylene metallized films (BOPP), LLDPE: LDPE films with sisal fibres. Am. J. Eng. Applied Sci., 9, 913-920. DOI: 10.3844/ajeassp.2016.913.920
Rulkov, N. F., Hunt, A. M., Rulkov, P. N., & Maksimov, A. G. (2016). Quantization of map-based neuronal model for embedded simulations of neurobiological networks in real-time. Am. J. Eng. Applied Sci., 9, 973-984. DOI: 10.3844/ajeassp.2016.973.984
Saikia, A., & Karak, N. (2016). Castor oil based epoxy/clay nanocomposite for advanced applications. Am. J. Eng. Applied Sci., 9, 31-40. DOI: 10.3844/ajeassp.2016.31.40
Sallami, A., Zanzouri, N., & Ksouri, M. (2016). Robust diagnosis of a DC motor by bond graph approach. Am. J. Eng. Applied Sci., 9, 432-438. DOI: 10.3844/ajeassp.2016.432.438
Samantaray, K. S., Sahoo, S., & Rout, C. S. (2016). Hydrothermal synthesis of CuWO4-reduced graphene oxide hybrids and supercapacitor application. Am. J. Eng. Applied Sci., 9, 584-590. DOI: 10.3844/ajeassp.2016.584.590
Santos, F. A., & Bedon, C. (2016). Preliminary experimental and finite-element numerical assessment of the structural performance of SMA- reinforced GFRP systems. Am. J. Eng. Applied Sci., 9, 692-701. DOI: 10.3844/ajeassp.2016.692.701
Semin, A. R., Ismail, & Bakar, R. A. (2009a). Combustion temperature effect of diesel engine convert to compressed natural gas engine. Am. J. Eng. Applied Sci., 2, 212-216. DOI: 10.3844/ajeassp.2009.212.216
Semin, A. R., Ismail, & Bakar, R. A. (2009b). Effect of diesel engine converted to sequential port injection compressed natural gas engine on the cylinder pressure Vs crank angle in variation engine speeds. Am. J. Eng. Applied Sci., 2, 154-159. DOI: 10.3844/ajeassp.2009.154.159
Semin, A. R., Ismail, & Bakar, R. A. (2009c). Diesel engine convert to port injection CNG engine using gaseous injector nozzle multi holes geometries improvement: A review. Am. J. Eng. Applied Sci., 2, 268-278. DOI: 10.3844/ajeassp.2009.268.278
Semin, A. R., & Bakar, R. A. (2008). A technical review of compressed natural gas as an alternative fuel for internal combustion engines. Am. J. Eng. Applied Sci., 1, 302-311. DOI: 10.3844/ajeassp.2008.302.311
Sepúlveda, J. A. M. (2016). Outlook of municipal solid waste in Bogota (Colombia). Am. J. Eng. Applied Sci., 9, 477-483. DOI: 10.3844/ajeassp.2016.477.483
Serebrennikov, A., Serebrennikov, D., & Hakimov, Z. (2016). Polyethylene pipeline bending stresses at an installation. Am. J. Eng. Applied Sci., 9, 350-355. DOI: 10.3844/ajeassp.2016.350.355
Shanmugam, K. (2016). Flow dynamic behavior of fish oil/silver nitrate solution in mini-channel, effect of alkane addition on flow pattern and interfacial tension. Am. J. Eng. Applied Sci., 9, 236-250. DOI: 10.3844/ajeassp.2016.236.250
Shruti, (2016). Comparison in cover media under stegnography: Digital media by hide and seek approach. Am. J. Eng. Applied Sci., 9, 297-302. DOI: 10.3844/ajeassp.2016.297.302
Stavridou, N., Efthymiou, E., & Baniotopoulos, C. C. (2015a). Welded connections of wind turbine towers under fatigue loading: Finite element analysis and comparative study. Am. J. Eng. Applied Sci., 8, 489-503. DOI: 10.3844/ajeassp.2015.489.503
Stavridou, N., Efthymiou, E., & Baniotopoulos, C. C. (2015b). Verification of anchoring in foundations of wind turbine towers. Am. J. Eng. Applied Sci., 8, 717-729. DOI: 10.3844/ajeassp.2015.717.729
Suarez, L., Abu-Lebdeh, T. M., Picornell, M., & Hamoush, S. A. (2016). Investigating the role of fly ash and silica fume in the cement hydration process. Am. J. Eng. Applied Sci., 9, 134-145. DOI: 10.3844/ajeassp.2016.134.145
Syahrullah, O. I., & Sinaga, N. (2016). Optimization and prediction of motorcycle injection system performance with feed-forward back-propagation method Artificial Neural Network (ANN). Am. J. Eng. Applied Sci., 9, 222-235. DOI: 10.3844/ajeassp.2016.222.235
Sylvester, O., Bibobra, I., & Ogbon, O. N. (2015a). Well test and PTA for reservoir characterization of key properties. Am. J. Eng. Applied Sci., 8, 638-647. DOI: 10.3844/ajeassp.2015.638.647
Sylvester, O., Bibobra, I., & Ogbon, O. N. (2015b). Report on the evaluation of Ugua J2 and J3 reservoir performance. Am. J. Eng. Applied Sci., 8, 678-688. DOI: 10.3844/ajeassp.2015.678.688
Taher, A-L., Petrescu, R. V., Moayyad, Al-N., & Petrescu, F. I. T. (2019). Effect of nano-Silica (SiO2) on the Hydration Kinetics of Cement. Engineering Review, 39(3), 248-260. DOI: 10.30765/er.39.3.06.
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Takeuchi, T., Kinouchi, Y., Matsui, R., & Ogawa, T. (2015). Optimal arrangement of energy-dissipating members for seismic retrofitting of truss structures. Am. J. Eng. Applied Sci., 8, 455-464. DOI: 10.3844/ajeassp.2015.455.464
Theansuwan, W., & Triratanasirichai, K. (2011). The biodiesel production from roast Thai sausage oil by transesterification reaction. Am. J. Eng. Applied Sci., 4, 130-132. DOI: 10.3844/ajeassp.2011.130.132
Thongwan, T., Kangrang, A., & Homwuttiwong, S. (2011). An estimation of rainfall using fuzzy set-genetic algorithms model. Am. J. Eng. Applied Sci., 4, 77-81. DOI: 10.3844/ajeassp.2011.77.81
Tourab, W., Babouri, A., & Nemamcha, M. (2011). Experimental study of electromagnetic environment in the vicinity of high voltage lines. Am. J. Eng. Applied Sci., 4, 209-213. DOI: 10.3844/ajeassp.2011.209.213
Tsolakis, A. D., & Raptis, K. G. (2011). Comparison of maximum gear-tooth operating bending stresses derived from niemann's analytical procedure and the finite element method. Am. J. Eng. Applied Sci., 4, 350-354. DOI: 10.3844/ajeassp.2011.350.354
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Waters, C., Ajinola, S., & Salih, M. (2016). Dissolution sintering technique to create porous copper with sodium chloride using polyvinyl alcohol solution through powder metallurgy. Am. J. Eng. Applied Sci. 9,155-165. DOI: 10.3844/ajeassp.2016.155.165
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Zotos, I. S., & Costopoulos, T. N. (2009). On the use of rolling element bearings' models in Precision maintenance. Am. J. Eng. Applied Sci., 2, 344-352. DOI: 10.3844/ajeassp.2009.344.352
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SOURCE OF FIGURES
Figure 01, https://www.ecocranes.ro/wp-content/uploads/2016/01/ECO5.jpg
Figure 02, https://www.ecocranes.ro/wp-content/uploads/2016/01/ECO3.jpg
Figure 03, https://www.ecocranes.ro/wp-content/uploads/2016/01/ECO6.jpg
