THE GRAPHICAL SIMULATION OF TRR SMALL-SIZED ROBOT

被引：0
|
作者：
Detesan, Ovidiu-Aurelian [1 ]
Bugnar, Florin [2 ]
Nedezki, Claudiu Mihai [3 ]
Trif, Adrian [4 ,5 ]
机构：
[1] Tech Univ Cluj Napoca, Dept Mech Syst Engn, B Dul Muncii 103-105, Cluj Napoca, Romania
[2] Tech Univ Cluj Napoca, B Dul Muncii 103-105, Cluj Napoca, Romania
[3] Tech Univ Cluj Napoca, Dept Engn & Robot, Cluj Napoca, Romania
[4] Tech Univ Cluj Napoca, Dept Mfg Engn, Cluj Napoca, Romania
[5] Rasaritului St 102-11, Cluj Napoca 400587, Romania
来源：
ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2016年 / 59卷 / 03期
关键词：
TRR robot; graphical simulation; MathCAD; SimMecRob; trajectory;
D O I：
暂无
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
the paper presents the graphical simulation of the TRR small-sized robot, using SimMecRob. Starting from the definition of the initial data, concerning the robot's geometry and from a set of configurations specific to the technological process, which must be reached at certain time moments, the set of the configurations are graphically represented as kinematic sketches, both individually and in a combined form. The time variations of the operational coordinates, velocities and accelerations are then plotted, for three variants of the technological process. Using a program written in MathCAD, the time variation of the Cartesian coordinates of the end-effecter's characteristic point is presented in the second part of the paper, representing the trajectory of the characteristic point, in the Cartesian space.
引用
收藏
页码：273 / 278
页数：6
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