Kinematic and dynamic study of a manipulator 1T6R
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Abstract
The paper presents in detail a method of calculating the forces acting on a 1T6R robot manipulator. To determine the reactions (forces in kinematic torques), you must first determine the inertial forces in the mechanism to which one or more payloads of the robot can be added. The torsion of the inertial forces is calculated using the masses of the machine elements and the accelerations at the centers of mass of the elements of the mechanism, so that the positions, speeds, and accelerations acting on it, ie its complete kinematics, will be determined. Equations of the dynamics are also determined through an original method.
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Petrescu, R. V. V., Aversa, R., Akash, B., Corchado, J., & Berto, F. (2017t). Home at airbus. J. Aircraft Spacecraft Technol., (1), 97-118. DOI: 10.3844/jastsp.2017.97.118
Petrescu, R. V. V., Aversa, R., Akash, B., Corchado, J., & Berto, F. (2017u). Airlander. J. Aircraft Spacecraft Technol., (1), 119-148. DOI: 10.3844/jastsp.2017.119.148
Petrescu, R. V. V., Ersa, R., Akash, B., Corchado, J., & Berto, F. (2017v). When boeing is dreaming-a review. J. Aircraft Spacecraft Technol., (1), 149-161. DOI: 10.3844/jastsp.2017.149.161
Petrescu, R. V. V., Aversa, R., Akash, B., Corchado, J., & Berto, F.( 2017w). About Northrop Grumman. J. Aircraft Spacecraft Technol., (1), 162-185. DOI: 10.3844/jastsp.2017.162.185
Petrescu, R. V. V., Aversa, R., Akash, B., Corchado, J., & Berto, F. (2017x). Some special aircraft. J. Aircraft Spacecraft Technol., (1), 186-203. DOI: 10.3844/jastsp.2017.186.203
Petrescu, R. V. V., Aversa, R., Akash, B., Corchado, J., & Berto, F. (2017y). About helicopters. J. Aircraft Spacecraft Technol., (1), 204-223. DOI: 10.3844/jastsp.2017.204.223
Petrescu, R. V. V., Aversa, R., Akash, B., Berto, F., & Apicella, A. (2017z). The modern flight. J. Aircraft Spacecraft Technol., (1), 224-233. DOI: 10.3844/jastsp.2017.224.233
Petrescu, R. V. V., Aversa, R., Akash, B., Berto, F., & Apicella, A. (2017aa). Sustainable energy for aerospace vessels. J. Aircraft Spacecraft Technol., (1), 234-240. DOI: 10.3844/jastsp.2017.234.240
Petrescu, R. V. V., Aversa, R., Akash, B., Berto, F., & Apicella, A. (2017ab). Unmanned helicopters. J. Aircraft Spacecraft Technol., (1), 241-248. DOI: 10.3844/jastsp.2017.241.248
Petrescu, R. V. V., Aversa, R., Akash, B., Berto, F., & Apicella, A. (2017ac). Project HARP. J. Aircraft Spacecraft Technol., (1), 249-257. DOI: 10.3844/jastsp.2017.249.257
Petrescu, R. V. V., Aversa, R., Akash, B., Berto, F., & Apicella, A. (2017ad). Presentation of Romanian engineers who contributed to the development of global aeronautics-part I. J. Aircraft Spacecraft Technol., (1), 258-271. DOI: 10.3844/jastsp.2017.258.271
Petrescu, R. V. V., Aversa, R., Akash, B., Berto, F., & Apicella, A. (2017ae). A first-class ticket to the planet mars, please. J. Aircraft Spacecraft Technol., (1), 272-281. DOI: 10.3844/jastsp.2017.272.281
Petrescu, R. V. V., Aversa, R., Apicella, A., Mirsayar, M. M., & 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. V., Aversa, R., Apicella, A., Mirsayar, M. M., & 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. 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. V., Aversa, R., Akash, B., Abu-Lebdeh, T. M., 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. V., Aversa, R., Akash, B., Abu-Lebdeh, T. M., 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. 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. 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. 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. 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. 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. 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. 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. 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. 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
Pourmahmoud, N. (2008). Rarefied Gas Flow Modeling inside Rotating Circular Cylinder, Am. J. Eng. Applied Sci., 1(1), 62-65. DOI: 10.3844/ajeassp.2008.62.65
Rajasekaran, A., Raghunath, P. N., & Suguna, K. (2008). Effect of Confinement on the Axial Performance of Fibre Reinforced Polymer Wrapped RC Column, Am. J. Eng. Applied Sci., 1(2), 110-117. DOI: 10.3844/ajeassp.2008.110.117
Shojaeefard, M. H., Goudarzi, K., Noorpoor, A. R., & Fazelpour, M. (2008). A Study of Thermal Contact using Nonlinear System Identification Models, Am. J. Eng. Applied Sci., 1(1), 16-23. DOI: 10.3844/ajeassp.2008.16.23
Taher, S. A., Hematti, R., & Nemati, M. (2008). Comparison of Different Control Strategies in GA-Based Optimized UPFC Controller in Electric Power Systems, Am. J. Eng. Applied Sci., 1(1), 45-52. DOI: 10.3844/ajeassp.2008.45.52
Tavallaei, M. A., & Tousi, B. (2008). Closed Form Solution to an Optimal Control Problem by Orthogonal Polynomial Expansion, Am. J. Eng. Applied Sci., 1(2), 104-109. DOI: 10.3844/ajeassp.2008.104.109
Theansuwan, W., & Triratanasirichai, K. (2008). Air Blast Freezing of Lime Juice: Effect of Processing Parameters, Am. J. Eng. Applied Sci., 1(1), 33-39. DOI: 10.3844/ajeassp.2008.33.39
Zahedi, S. A., Vaezi, M., & Tolou, N. (2008). Nonlinear Whitham-Broer-Kaup Wave Equation in an Analytical Solution, Am. J. Eng. Applied Sci., 1(2), 161-167. DOI: 10.3844/ajeassp.2008.161.167
Zulkifli, R., Sopian, K., Abdullah, S., & Takriff, M. S. (2008). Effect of Pulsating Circular Hot Air Jet Frequencies on Local and Average Nusselt Number, Am. J. Eng. Applied Sci., 1(1), 57-61. DOI: 10.3844/ajeassp.2008.57.61