TECHICAL Series MATHEMATICS • INFORMATICS • PHYSICS Series PHILOLOGY Series ECONOMIC SCIENCES Sereies EDUCATIONAL SCIENCES Series LAW AND SOCIAL SCIENCES Series
On the Establishment and Visualization of the Multiple Configurations of the Mitsubishi RV-1A Robot System
(Asupra stabilirii şi vizualizării configuraţiilor multiple ale sistemului robot Mitsubishi RV-1A)
Vol LXVI • No. 1/2014
Ion Nae, Dorin Bădoiu, Georgeta Toma
Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti 39, Ploieşti
e-mail: badoiu@upg-ploiesti.ro

 Keywords    robot, multiple configurations, position, orientation

 Abstract
The paper presents a method that permits the establishment and the visualization of the multiple configurations of the Mitsubishi RV-1A robot system. The positional analysis is realized with the rotation matrices methodology. The expressions of the generalized coordinates of the mechanism of the Mitsubishi RV-1A robot for obtaining an imposed position and orientation between its tool frame and the base frame are derived. A computer program that permits the calculus of the generalized coordinates of all possible configurations of the Mitsubishi RV-1A robot mechanism has been developed. Some interesting simulation results are presented. Finally, these configurations are visualized using Ciros Studio program.

 Rezumat
Articolul prezintă o metodă care permite stabilirea şi vizualizarea configuraţiilor multiple ale sistemului robot Mitsubishi RV-1A. Analiza poziţională este realizată cu metodologia matricilor de rotaţie. Sunt deduse expresiile coordonatelor generalizate ale mecanismului robotului Mitsubishi RV-1A pentru obţinerea unei poziţii şi orientări impuse între reperul sculei şi reperul de bază al acestuia. S-a realizat un program de calculator care permite calculul coordonatelor generalizate ale tuturor configuraţiilor posibile ale mecanismului robotului Mitsubishi RV-1A. O serie de rezultate interesante ale simulărilor sunt prezentate. In final, aceste configuraţii sunt vizualizate folosind programul Ciros Studio.



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