Robot Actuators Definition—Preliminary Study

Abstract

The industrial robots and manipulators are full-value, irretrievable part of automation production in many fields of industry today. They are often used as manipulators in manufacturing work cells or they are used as a technological device e.g. at welding operations. Motion of individual parts of such mechanical system has to be controlled so to be satisfied all tasks in required precision. The article deals with the preliminary study of robot motion and the definition of actuators in individual joints of robot, which end effector is linked to the curve. When the dependency of acceleration on time or on the position of drive member is known, it is possible to define the forces reactions, axial and radial moments in individual joints of robot related to the selected coordinate system. The robot behavior was simulated by means of software PTC Creo.