ANALIZA FUNCŢIONALĂ ŞI DINAMICĂ A UNUI ROBOT PROTOTIP DE TIP 4R

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.