Perspectives on Constructive and Functional Optimizing of a Serial Robot with Four Degrees of Freedom Destined for Special Applications



This paper deals with aspects on the dynamic modulation of the robots mechanical structure, using Lagrangian formalism, choosing the adequate DC servomotors, translation modules constituting the TTRT robot, the constructive solution and modelling the three translation subassemblies of the studied robot, with the intention that, in the end, based on a dynamic-organologic algorithm, a functional optimization of the robot be brought out within a workcell destined for special applications, so that the energetic consumption be as low as possible. This paper also presents the organological calculi and solutions for the efficient design of modules specific to mechanical structures of industrial serial-modular robots. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)