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DYNAMICS OF PLANAR SEVEN-BAR ROBOT ACTUATOR MECHANISM

Authors: N. Davitashvili, G. Chitashvii, N. Nozadze, K. Chkuaseli


Abstract:

Is given the dynamic analysis of robot’s planar seven-bar actuator mechanism formed on the basis of five-bar mechanism with two degrees of freedom and consisting three grippers.s given the operating principle and is shown the possibilities of its operations in five modes. For one case of actuator mechanism’s and grippers operation are obtained formulae of kinetic energy, reduced moments and non-linear second order differential equations by solving of which are defined real laws of motion of mechanism when all links are absolutely rigid.

Keywords: dynamic; manipulator; gripper; actuator mechanism; robot.

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