The Dynamics of the Planar Cinematic Balanced Chain at the Plan Module 3R

Abstract

In some previous papers, the mechatronic module 3R, plan, is a basic module on which the complete, geometric, cinematic, dynamic calculation of the anthropomorphic robots, the most used today's industrial robots, is built. The importance of the study of anthropomorphic robots has also been signaled, being today the most widespread robots worldwide, due to its simple design, construction, implementation, operation and maintenance. In addition, anthropomorphic systems are simpler from a technological and cheaper point of view, performing a continuous, demanding, repetitive work without any major maintenance problems. The basic module of these robots was also presented geometrically, cinematically, of the forces, of its total static balancing and of the forces that arise within or after balancing. In the present paper, we want to highlight the dynamics of the already statically balanced total module. It has been presented in other works and studied matrix spatially, or more simply in a plan, but in this case, it is necessary to move from the working plane to the real space, or vice versa, passage that we will present in this study. In the basic plan module already presented in other geometric and cinematic works, we want to highlight some dynamic features such as static balancing, total balancing and determination of the strength of the module after balancing. Through a total static balancing, balancing the gravitational forces and moments generated by the forces of gravity is achieved, balancing the forces of inertia and the moments (couples) generated by the presence of inertial forces (not to be confused with the inertial moments of the mechanism, which appear separately from the other forces, being part of the inertial torsion of a mechanism and depending on both the inertial masses of the mechanism and its angular accelerations. Balancing the mechanism can be done through various methods. Partial balancing is achieved almost in all cases where the actuators (electric drive motors) are fitted with a mechanical reduction, a mechanical transmission, a sprocket, spiral gear, spool screw type. This results in a "forced" drive balancing from the transmission, which makes the operation of the assembly to be correct but rigid and with mechanical shocks. Such balancing is not possible when the actuators directly actuate the elements of the kinematic chain without using mechanical reducers.