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Frequency: Quarterly
ISSN: 1941-7020 (Print)
ISSN: 1941-7039 (Online)
Research Article Open Access

The Study of the Dynamics of a Basic DoF Robot

Relly Victoria Virgil Petrescu1
  • 1 Department of Transportation, Traffic and Logistics, Bucharest Polytechnic University, Bucharest, Romania

Abstract

The paper presents the study of the dynamics of a general DoF robot, highlighting some important new aspects in the dynamic design of a certain DoF robot. An improved method of positioning the robot in inverse kinematics is presented, then some new aspects in approaching the forces acting on a robot, but also regarding the determination of loads of the rotary actuators. Finally, a study is made of the dynamic functioning of the robot, with new and interesting aspects.

American Journal of Engineering and Applied Sciences
Volume 15 No. 4, 2022, 303-315

DOI: https://doi.org/10.3844/ajeassp.2022.303.315

Submitted On: 13 November 2022 Published On: 16 December 2022

How to Cite: Virgil Petrescu, R. V. (2022). The Study of the Dynamics of a Basic DoF Robot. American Journal of Engineering and Applied Sciences, 15(4), 303-315. https://doi.org/10.3844/ajeassp.2022.303.315

Open AccessCopyright: © 2022 Relly Victoria Virgil 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.

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Keywords

  • Kinematics
  • Nonlinear Dynamics
  • Forces
  • DoF Robot Mechanism
  • Kinetic Energy Conservation