Machine Motion Equations Presented in a New General Format

Abstract

Considering the increased importance of robots nowadays, when no large factory or factory can work without robots, we want to present in the work the motion equations of the machine in an original form, both in terms of aspect and their deduction. The machine's motion equations can be used in dynamic calculations at any type of machine, whether it be a motor, a compressor, a lucrative machine, a robot, a system, a mechanism, a vehicle, a mechanical transmission, or any other type of car. The dynamics of systems is their real movement, the dynamic movement, in which the influences of three main factors interfere, which modify the kinematics of the mechanism when it moves really, dynamic. The first dynamic factor is the forces of inertia or the effect of inertial masses. The second important dynamic factor is that of the couplings, of the linkages within the respective machine mechanisms. The latter and the third dynamic factor represents the influence of system elasticity on its dynamic functioning. Only dynamic coefficient of inertia and the influence of kinematic couplings in the system were used in the analyzed sample. The dynamic coefficient due to elasticity and deformation in the system has not been taken into account since the overwhelming influence of the inertial forces is impacted by additional dynamic changes and also by the kinematic couplings in the system and the elastic deformations do not greatly influence the dynamics of the system in the case of the example remembered. If a robot was being discussed, things were similar, as in the case of various vehicles and various mechanisms and machines. However, for rigid memory transmissions, elastic deformations are important, which is why they should be considered in such systems.