Dynamic Kinematics of the Plan Balanced Chain at the Planar Module 3R

Abstract

Anthropomorphic robots are, as I have already said, in most of the most widespread and widely used works worldwide today, due to their ability to adapt quickly to forced work, working without breaks or breaks 24 h a day, without unpaid leave without asking for food, water, air, or salary. Anthropomorphic robots are supple, elegant, easy to configure and adapted to almost any required location, being the most flexible, more useful, more penetrating, easy to deploy and maintain. For the first time, these robots have asserted themselves in the automotive industry and especially in the automotive industry, today they have penetrated almost all industrial fields, being easily adaptable, flexible, dynamic, resilient, cheaper than other models, occupying a volume smaller but with a major working space. They can also work in toxic or dangerous environments, so used in dyeing, chemical cleaners, in chemical or nuclear environments, where they handle explosive objects, or in military missions to land or sea mines, even if they were banned to use, because there are still countries around the globe that use them, such as Afghanistan ... In the study of the dynamic movement of robots, i.e. their real movement, when considering the actions and effects of the various forces that act upon them, it is important to know the real motion of the robots, ie the dynamic cinematic (the one imposed by the dynamics, that is, the forces in the mechanism).