KINETOSTATIC OF THE 3R DYAD
ResumoThis paper presents a method to determine the kinetostatic parameters at the 3R dyad. One proposes to determine the forces from joints: RB, RD, R23. To generalize the method and to the 2R robots, are introduced and the two moments M1, M2. This 2R module, is the principal from the android rotation robotic structures and mechatronic structures. Figure 1 shows a schematic diagram of the 3R dyad minimum kinetostatic (loaded with the inertia forces, considered external forces). For if there are additional external forces, such as technological resistances will be added as well.
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