TECHICAL Series MATHEMATICS • INFORMATICS • PHYSICS Series PHILOLOGY Series ECONOMIC SCIENCES Sereies EDUCATIONAL SCIENCES Series LAW AND SOCIAL SCIENCES Series
On an Optimal Choice of the Configurations for the Mechanism of the Mitsubishi RV-2AJ Robot
(Asupra alegerii optime a configuraţiilor mecanismului robotului Mitsubishi RV-2AJ)
Vol LXVI • No. 1/2014
Dorin Bădoiu
Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti 39, Ploieşti
e-mail: badoiu@upg-ploiesti.ro

 Keywords   robot, position, characteristic point, optimization

 Abstract
The paper presents a method that permits the calculus of the generalized coordinates of the Mitsubishi RV-2AJ robot mechanism for an imposed position of the tool frame when an optimization criterion is adopted. The optimization criterion imposes that the angular displacements of the motor axes for achieving an imposed position of the tool frame of the robot mechanism are minimal compared to a start configuration. The equations system that is obtained by applying the optimization criterion is numerically solved. Finally, some simulation results are presented.

 Rezumat
Articolul prezintă o metodă care permite calculul coordonatelor generalizate ale mecanismului robotului Mitsubishi RV-2AJ pentru o poziţie impusă a reperului sculei atunci când se adoptă un criteriu de optimizare. Criteriul de optimizare impune ca deplasările axelor motoare pentru atingerea unei poziţii impuse a reperului sculei să fie minime în raport cu o configuraţie de start. Sistemul de ecuaţii care se obţine prin aplicarea criteriului de optimizare este rezolvat numeric. In final, sunt prezentate o serie de rezultate ale simulărilor.



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