FUNCTIONAL AND DYNAMIC ANALYSIS OF A 4 DOF PROTOTYPE ROBOT
The article presents the elements of a 4 DOF prototype robot which consists of a base, a platform, arm 1, arm 2 and an effector. Laws governing the variation in time of rotational angles are presented, designed for controlling the four motors which actuate the robot. The geometrical and mass data of the robot’s elements allow for cinematic and dynamic analysis of each element as well as for the entire system. In the technological applications that are analyzed in this article – applications which simulate a continuous welding
process – the tip of the effector travels, at constant speed, in a straight line and in a semicircle.
Keywords: industrial robots; work productivity; mechanical engineering; technological applications; cinematic and dynamic analysis.
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