Research ArticleOpen accessPhrase in the titleKinetostatics of a 2T9R Robot MechanismFlorian Ion Tiberiu Petrescu, Adriana ComanescuThe 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 … …American Journal of Engineering and Applied Sciences, Vol. 15, Issue 1 · 12 Feb 2022 · 6,903 accessesView PDFCite