Presents the Dynamics at a Basic Anthropomorphic Robot

Abstract

Serial robots are the most used today and among them, the most common is the basic 3R module, the module that is developed in the vast majority of anthropomorphic serial industrial robots, which today occupies at least 80-90% of the total industrial robots existing worldwide. One studied the kinematics and the forces in this module in other works, with an emphasis on the inverse kinematics, so that in this paper the authors will deal with the dynamic functioning of this 3R structure, a basic structure as it could be observed, because the dynamics which represent in fact the actual operation of the entire robotic structure is, therefore, the most important in operation, both for the optimal analysis or design of the robotic structure, as well as for its implementation or maintenance throughout its life. The paper presents the real dynamic functioning of the 3R structure, the related calculation relationships and the diagrams with the simulation of the real dynamic functioning of the 3R platform.