About the Anthropomorphic Robots

ENGEVISTA, V. 17, N. 1, p. 1-15, Março 2015

15 Pages Posted: 27 Nov 2017 Last revised: 2 Jul 2019

See all articles by Florian Ion Petrescu

Florian Ion Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Relly Victoria Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Date Written: March 1, 2015

Abstract

The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If we study (analyze) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), we already have a base system, on which we can then add other movements (secondary, additional). Calculations were arranged and in the matrix form. The most commonly used serial structures over the last 20 or 30 years are those of type 3R, 4R, 5R, 6R, having as constituents essential basic kinematic chain 3R, robot anthropomorphic (RRR), where main rotation around a vertical axis, causes the construction. It can thus passes from the study spatial movement, which is more difficult, to the study motion plane, basic movement, for all the robots and fillers serial movements of rotation. Moving flat, horizontal or vertical, shall be undertaken far more easily than the spatial integration with the convenience simple in the space of which it is part. We will exemplify the basic structure existing in a few serial platforms of rotation, these being the most generalized (more widespread) at the present time. In this work will be pursued and the direct and inverse kinematics of these mechanical systems. It can make the transition from 3R systems-level 2R and vice versa.

Keywords: Anthropomorphic Robots, Direct Kinematics, Inverse Kinematics, 3R Systems, 2R Systems

Suggested Citation

Petrescu, Florian Ion and Petrescu, Relly Victoria, About the Anthropomorphic Robots (March 1, 2015). ENGEVISTA, V. 17, N. 1, p. 1-15, Março 2015, Available at SSRN: https://ssrn.com/abstract=3075492

Florian Ion Petrescu (Contact Author)

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

Relly Victoria Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

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