Serial, Anthropomorphic, Spatial, Mechatronic Systems can be Studied More Simply in a Plan

Relly Victoria Virgil Petrescu, Raffaella Aversa, Antonio Apicella, MirMilad Mirsayar, Samuel Kozaitis, Taher Abu-Lebdeh, Florian Ion Tiberiu Petrescu
2017 Journal of Mechatronics and Robotics  
The mobile, mechatronic, robotic, serial, spatial, anthropomorphic type systems, which are currently the most used in the machine building industry, can be studied much more simply in a plan instead of the usual spatial study. This not only simplifies the understanding of these systems (including from a didactic point of view) but also facilitates computational methods, moving from matrix analytical methods to more simple classical methods. Usage is done by conversion, so nothing is lost from
more » ... hing is lost from the essence of physic-mathematical phenomena. The idea of moving from spatial to planar study has been centered over time on all major mechanisms when it was possible, precisely for ease of calculation and working methods, but also for a better understanding of physical phenomena. The vast majority of classical mechanisms can be treated as they move in most cases into a master plan. This is the case with known mechanical transmissions, classic motors of all types, working mechanisms, engine or lucrative cars, etc. In anthropomorphic robots, the method is no longer used because they work clearly in a well-defined space. We used the idea to divide this space into a main work plan that can rotate around a main axis so that the study of all movements is done in the workplan and then the rotations of these parameters corresponding to the rotation of the work plane around the main axis of rotation. The physicalmathematical methods are greatly simplified in this way, from matrix difficult calculations to simple, classical analytical calculation methods.
doi:10.3844/jmrsp.2017.88.97 fatcat:koggxagg3jcu3jr2w7tt4uxbw4