Direct Geometry and Cinematic to the MP-3R Systems

Abstract

Mechatronic robotic systems are today widely used worldwide to ease human work, but especially where work is dangerous, in toxic, radioactive, chemical, explosive atmospheres, without air such as underwater or in the cosmos, or in places hard to reach the man. Robots can take the tedious repetitive work under any circumstances and they can perform a difficult operation for a long time, with no meal or rest breaks. They say the robots have stolen people's jobs. False! Robots have taken from man only those difficult jobs that baptized man and destroyed him. Robots have been created just as a prolongation of man as his real support in the faster, constantly accomplishing of difficult, repetitive, physically and mentally tired work and operations. Robots have emerged many years ago as a requirement of the automotive industry and especially that of road vehicles, especially automobiles. Meanwhile, they have diversified and branched a great deal in almost all industrial spheres. But the most important future of robots must be completely different. They have to help us conquer the cosmic space. The robot must become an extension of man in his divine mission of constructor and conqueror of the universe. Of all the types of industrial robots you use, the most common are the anthropomorphic serial robots, which is why we want to start studying and presenting the robots, with that generally common in robots, anthropomorphic serial systems. The kinematics of serial manipulators and robots will be exemplified for the 3R cinematic model to a medium difficulty system, ideal for understanding the actual phenomenon, but also for explaining the basic knowledge needed for calculating calculations and simpler or more complex systems. The fixed coordinate system was denoted by x₀O₀y₀z₀. The mobile systems (rigid) of the three mobile elements (1, 2, 3) have indices 1, 2 and 3. Their orientation was conveniently chosen but other orientations could be chosen. Known kinematic parameters in the direct kinematics are the absolute rotation angles of the three moving elements: φ₁₀, φ₂₀, φ₃₀, angles related to the rotation of the three actuators (electric motors) mounted in the kinematic rotation couplers. The output parameters are the three absolute coordinates x_M, y_M, z_M of point M, ie the kinematic parameters (coordinates) of the end-effector (the actuator element (the final), which can be a grasping hand, a solder tip, painted , cut, etc ...).