The Study of the Dynamics of a Basic DoF Robot

Abstract

: The paper presents the study of the dynamics of a general DoF robot, highlighting some important new aspects in the dynamic design of a certain DoF robot. An improved method of positioning the robot in inverse kinematics is presented, then some new aspects in approaching the forces acting on a robot, but also regarding the determination of loads of the rotary actuators. Finally, a study is made of the dynamic functioning of the robot, with new and interesting aspects.