Dynamic Elements at MP3R

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. Serial mobile mechanical systems are generally the most used mechatronic systems because they have good dynamics, high reliability and lower manufacturing cost with modest technologies. In general, anthropomorphic robotic structures are generally used in serial mechanical systems as they are more versatile, more economical, more reliable, more penetrating, faster and generally have a beautiful and innovative design. Anthropomorphic structures have been used for the first time in the automotive industry to facilitate human work, but also to replace it with repetitive, tiring, or toxic work. For this reason, the first anthropomorphic robots were manipulators and the following were dyeing robots in toxic environments, so that welding anthropomorphic, assemblies, those who checked technological lines and so on would still appear. Almost all operations in the automotive industry were automated based on anthropomorphic robots. For this reason, their study is today as necessary as ever for their continuous improvement. Anthropomorphic robots work at high speeds and therefore their dynamics is an extremely important issue. In this paper, we aim to present an original method of scientific, analytical study of the dynamics of the anthropomorphic mobile mechanical structures. Dynamics is the discipline that studies the real movement of a point, object, or a body, mechanical system ... The dynamic study attempts to capture the real movement of the studied object, as it is in reality. The movement of a body is derailed by the kinematic equations, the movement being generally studied by the kinematics, but when we are interested in the actual movements of a binding object, a dynamic motion study must be introduced. The dynamics besides the kinematics constrain the influence of the masses and forces on the movement of a body, as well as the elastic deformations, the inertial forces, or other external forces capable of influencing the movement of the body, including those caused by the bonds of the body, its object of that mechanism.