Kinetostatics of a 2T9R Robot Mechanism

The paper presents in detail a method of calculating the forces acting on a 2T9R type robot. In order to determine the reactions (forces in the kinematic couples), one must first determine the inertial forces in the mechanism to which one or more useful loads of the robot can be added. The torsor of the inertia forces is calculated with the help of the masses of the machine elements and the accelerations from the centers of mass of the mechanism elements, so the positions, velocities and accelerations acting on it will be determined, i.e., its complete kinematics. The calculation method applied by a Math Cad program intelligently uses data entry through the If Log logic function so that the calculations can be automated. So, the effective automation of the calculation program is done exclusively through the If Log functions originally used in the paper.