Forces of a 3R Robot

In this study, one presents a method for determination of kinetostatic parameters in dyad 3R. It starts with the determination of the forces in the joints: R_B, R_D, R₂₃. To generalize the method including for the 2R robots, enter both the moments M₁, M₂. This module (2R) is the main module found in all rotating anthropomorphic robotic structures and similar mechatronic structures. If there are additional external forces such as technological resistances, they will also be added. The forces acting within a mechanism are of particular importance in that they give the dimensions of the mechanism, the elements of the mechanism so that it can withstand all the static and dynamic loads during its operation. For this reason, it is important to know all the forces acting on the elements but especially on the kinematic couplers, both for the correct dimensioning of these elements and for the proper functioning of the respective mechanism. Forces together with kinematics are, on the other hand, basic components of dynamic calculations for that mechanism. This is also true for robots. Science that deals with the determination of forces within a mechanism is called Kinetostatic. The calculations within a mechanism are made on the pieces of this mechanism called structural groups or structural modulus. The structural modules of a mechanism are determined on the basis of the principle of eliminating the mobility of the respective group in the desmodromic mechanisms. The mobility of the mechanism is given either by other movable input elements that are added to the structural groups or to the robots by adding some actuators to the elements of a module.