Kinematic analysis of mono-mobile mechanical system actuated by motor tetrad RRR-Ta-RRR
2019
Dugaesescu, I., University Politehnica of Bucharest (Romania) | Popa, L., National Inst. of Research-Development for Machines and Installations Designed to Agriculture and Food Industry, Bucharest (Romania) | Moise, S., Etudes et Productions Schlumberger, Clamart (France) | Moise, V., University Politehnica of Bucharest (Romania) | Stefan, V., National Inst. of Research-Development for Machines and Installations Designed to Agriculture and Food Industry, Bucharest (Romania) | Rotaru, A., University Politehnica of Bucharest (Romania)
The mono – mobile mechanical systems are composed of an active modular group and one or more passive modular groups (dyad, triad etc.). To calculate the kinematic parameters of active modular groups there can be used methods such as the contour method, matrix method, grapho-analytical method, graphics method etc. In the case of solving the positions of the complex mechanisms as a whole, systems with a large number of equations, usually non-linear, are obtained. For solving these systems of equations the function matrix of the system is required, the matrix, which elements are obtained in a numerical or analytical way. The number of equations is very large, and the size of the functional matrix is very large, which leads to a large number of operations to obtain the inverse matrix. This paper presents a procedure for the kinematic analysis of an active modular group motor tetrad RRR-Ta-RRR type. To calculate the kinematic parameters (positions, angular velocities and accelerations) the contour method is used. The active modular group RRR-Ta-RRR has two independent kinematic contours, making it particularly effective in operating various mobile mechanical systems. The kinematic performances of the mechanisms, in which this modular group is found, are very high, the numerical solution of the system of non-linear equations of positions is simple, the convergence is rapid and the calculation precision desired can be controlled very easily. As examples of the use of active modular group RRR-Ta-RRR or other active modular groups (motor dyad, motor triad) can be mentioned: actuation of various lifting systems (actuating mechanism of a crank with articulated bars, actuating mechanism of a crank with articulated bars and gears), actuation of different folding tables, actuation of the gripping mechanisms used in industrial robots, etc.
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