ANALIZA CINEMATICA A UNUI PICIOR ROBOT

Parametrii geometrici constanti

AB 0.002

CE 0.02

BC 0.008

EF 0.007

DC 0.008

GF 0.013

BH BC

HK CE

BE BC CE

JH DC

KL EF

BK BH HK

ML GF
XA 0

X1A 0

X2A 0

YA 0

Y1A 0

Y2A 0

XD 0.005

X1D 0

YD 0.008

X2D 0

Y1D 0

Y2D 0

XG 0.013

X1G 0

X2G 0

YG 0.01

Y1G 0

Y2G 0

XJ XD

XM XG

YJ YD

YM YG
1 5

k 0 36
1k k

1 0

18

Parametrii cuplei B
Pozitii

XBk XA AB cos 1k

YBk YA AB sin 1k
Viteze

X1Bk X1A AB 1 sin 1k

Y1Bk Y1A AB 1 cos 1k

Acceleratii

X2Bk X2A AB 1 sin 1k AB 1 cos 1k

Y2Bk Y2A AB 1 cos 1k AB 1 sin 1k

0.002
0.001
YBk

0
0.001
0.002
0.002

0.001

0.001

0.002

XBk

0.06
0.036
XBk
0.012
X1Bk
X2Bk

0.012
0.036
0.06

16

24

32

40

0.06
0.036
YBk
0.012
Y1Bk
Y2Bk

0.012
0.036
0.06

16

24
k

32

40

Diada RRR(2,3)
Pozitii

20 15
2 20

30 280

180

3 30

180

Given
XBk XD BC cos 2 DC cos 3
YBk YD BC sin 2 DC sin 3

0
0

solk Find 2 3

2k
solk
3k

20k
2k 180

30k
3k

20
10
20k

0
10
20

Viteze

10

20
k

30

40

310
300
30k

290
280
270

10

20

30

40

30

40

k
400
275
20k
150

30k

25
100

10

20
k

Ak

BC sin 2k

DC sin 3k

Y1Bk Y1D

solvk lsolve Ak Bk

2k
solvk
3k

Viteze

BC cos 2k DC cos 3k

X1Bk X1D

Bk

2
1
2k

0
1
2

10

20

30

40

30

40

30

40

2
1
3k

0
1
2

10

20
k

2
1
2k
3k

0
1
2

10

20
k

Acceleratii

X2B X2D 2 2 BC cos 2 3 2 DC cos 3

k
k
k
k
k

Ck

Y2B Y2D 2 2 BC sin 2 3 2 DC sin 3

k
k
k
k
k

solak lsolve Ak Ck

2k
solak
3k

10
5
2k

0
5
10

10

20

30

40

30

40

10
5
3k

0
5
10

10

20
k

10
5
2k
3k

0
5
10

10

20

30

40

30

40

30

40

20
20k

10

2k

2k

10
20

10

20
k

10
30k

50
3k

3k

5
10

10

20
k

Parametrii cuplei E
Pozitii

XEk XBk BE cos 2k

YEk YBk BE sin 2k

Viteze

X1Ek X1Bk BE 2k sin 2k

Y1Ek Y1Bk BE 2k cos 2k

Acceleratii

2 cos 2k

X2Ek X2Bk BE 2k sin 2k BE 2k

2 sin 2k

Y2Ek Y2Bk BE 2k cos 2k BE 2k

0.01
0.0063
YEk

0.0025
0.0013
0.005
0.025 0.0263 0.0275 0.0288
XEk

0.03

0.04
0.02
Y1Ek

0
0.02
0.04
0.015

0.0088 0.0025 0.0037

0.01

X1Ek

0.18
Y2Ek

0.05
0.075
0.2
0.15

0.088

0.025

0.038

X2Ek

40 100
4 40

50 10

180

5 50

Given
XEk XG EF cos 4 GF cos 5
YEk YG EF sin 4 GF sin 5
solk Find 4 5

4k
solk
5k

40k
4k 180

50k
5k

0
0

180

130
120
40k

110
100
90

10

20

30

40

30

40

30

40

20
5
50k

10
25
40

10

20
k

150
100
40k
50k

50
0
50

10

20
k

Viteze

Ak

EF sin 4k

EF cos 4k

GF sin 5k

GF cos 5k

X1Ek X1G

Bk

Y1Ek Y1G

solvk lsolve Ak Bk

4k
solvk
5k

2
0.75
4k

0.5
1.75
3

10

20

30

40

30

40

2
0.5
5k

1
2.5
4

10

20
k

2
0.5
4k
5k

1
2.5
4

10

20

30

40

Acceleratii

X2E X2G 4 2 EF cos 4 5 2 GF cos 5

k
k
k
k
k

Ck

2
2

Y2Ek Y2G 4k EF sin 4k 5k GF sin 5k

solak lsolve Ak Ck

4k
solak
5k

10
0
4k

10
20
30

10

20
k

30

40

30
20
5k

10
0
10

10

20

30

40

30

40

30

40

k
40
20
4k
5k

0
20
40

10

20
k

20
40k

7.5

10
4k

4k

17.5
30

10

20
k

30
50k

20

10
5k

10

5k

0
10

10

20

30

40

6 60

180

7 70

Given
XBk XJ BH cos 6 JH cos 7
YBk YJ BH sin 6 JH sin 7
solk Find 6 7

6k
solk
7k

60k
6k 180

70k
7k

0
0

180

200
190
60k

180
170
160

10

20

30

40

30

40

30

40

k
270
260
70k

250
240
230

10

20
k

300
262.5
60k
70k

225
187.5
150

10

20
k

X1J 0
Viteze

Ak

BH sin 6k

JH sin 7k

Y1J 0

BH cos 6k JH cos 7k

X1Bk X1J

Bk

Y1Bk Y1J

solvk lsolve Ak Bk

6k
solvk
7k

2
1
6k

0
1
2

10

20

30

40

2
1
7k

0
1
2

10

20
k

30

40

X2J 0
Y2J 0

2
1
6k
7k

0
1
2

10

20

30

40

X2B X2J 6 2 BH cos 6 7 2 JH cos 7

k
k
k
k
k

Ck

Y2B Y2J 6 2 BH sin 6 7 2 JH sin 7

k
k
k
k
k

solak lsolve Ak Ck

6k
solak
7k

10
5
6k

0
5
10

10

20
k

30

40

10
5
7k

0
5
10

10

20

30

40

30

40

30

40

k
10
5
6k
7k

0
5
10

10

20
k

20
60k

12.5

10
6k

6k

2.5
10

10

20
k

30
70k

20

10
7k

10

7k

0
10

10

20

30

40

Parametrii cuplei K
Pozitii

XKk XBk BK cos 6k

YKk YBk BK sin 6k

Viteze

X1Kk X1Bk BK 6k sin 6k

Y1Kk Y1Bk BK 6k cos 6k

Acceleratii

2 cos 6k

X2Kk X2Bk BK 6k sin 6k BK 6k

2 sin 6k

Y2Kk Y2Bk BK 6k cos 6k BK 6k

0.01
0.0063
YK k

0.0025
0.0013
0.005
0.03

0.0288 0.0275 0.0263 0.025

XK k

0.04
0.02
Y1Kk

0
0.02
0.04
0.015

0.0088 0.0025 0.0037

X1Kk

0.18
Y2Kk

0.05
0.075
0.2

0.1

0.038

0.025
X2Kk

0.088

0.01

Diada RRR(8,9)
Pozitii

80 70
8 80

90 160

180

9 90

Given
XKk XM KL cos 8 ML cos 9

YKk YM KL sin 8 ML sin 9

solk Find 8 9

8k
solk
9k

80k
8k 180

90k
9k

90
80
80k

70
60
50

10

20
k

30

40

180

220
205
90k

190
175
160

10

20

30

40

250
200
80k
150

90k

100
50

10

20

30

40

X1M 0
Viteze

Ak

KL sin 8k

ML sin 9k

KL cos 8k ML cos 9k

X1Kk X1M

Bk

Y1Kk Y1M

solvk lsolve Ak Bk

8k
solvk
9k

Y1M 0

X2M 0
Y2M 0

2
0.75
8k

0.5
1.75
3

10

20

30

40

30

40

30

40

k
2
0.5
9k

1
2.5
4

10

20
k

2
0.5
8k
9k

1
2.5
4

10

20
k

Acceleratii

X2K X2M 8 2 KL cos 8 9 2 ML cos 9

k
k
k
k
k

Ck

Y2K Y2M 8 2 KL sin 8 9 2 ML sin 9

k
k
k
k
k

solak lsolve Ak Ck

8k
solak
9k

30
20
8k

10
0
10

10

20

30

40

30

40

10
0
9k

10
20
30

10

20
k

40
20
8k
9k

0
20
40

10

20

30

40

30

40

30

40

300
80k

200

8k5

100

8k10

0
100

10

20
k

5
90k
50
9k

9k
2

10

15

10

20
k

Parametrii cuplei L
Pozitii

XLk XKk KL cos 8k

YLk YKk KL sin 8k
Viteze

X1Lk X1Kk KL 8k sin 8k

Y1Lk Y1Kk KL 8k cos 8k

Acceleratii

X2Lk X2Kk KL 8k sin 8k KL 8k cos 8k

2

Y2Lk Y2Kk KL 8k cos 8k KL 8k sin 8k

2

0.04

0.015

0.02

0.0113

YLk

Y1Lk

0.0075

0.02
0.0038

0
0.026

0.04
0.015
0.02538

0.02475

0.02413

0.0235

0.18
0.05
0.075
0.2

0.2

0.1

0
X2Lk

0.1

0.0025
X1Lk

XLk

Y2Lk

0.0088

0.2

0.0037

0.01

Traiectoria extremitatii piciorului T4

XT4k XEk ET4 cos 4k

YT4k YEk ET4 sin 4k

ET4 0.02

0.01
0.0125
0.015
YT4k

0.0175
0.02
0.0225
0.025
0.025 0.02830.0317 0.035 0.03830.0417 0.045
XT4k

0.01
0.0125
YT4k

0.015

YT4FRAME 0.0175
0.02
0.0225
0.025
0.025 0.02830.0317 0.035 0.03830.0417 0.045
XT4k XT4FRAME

KT8 0.02

TRAIECTORIA EXTREMITATII PICIORULUI T8

XT8k XKk KT8 cos 8k

YT8k YKk KT8 sin 8k

0.01
0.0138
YT8k

0.0175
0.0213
0.025
0.045

0.04

0.035

0.03

0.025

XT8k

0.01
0.0138
YT8k
YT8FRAME 0.0175
0.0213
0.025
0.045

0.04

0.035

XT8k XT8FRAME

0.03

0.025

0.01
YT4k

0.013

YT4FRAME

0.016

YT8k

0.019

YT8FRAME
0.022
0.025
0.06

0.036

0.012

0.012

0.036

0.06

XT4k XT4FRAME XT8k XT8FRAME

0.02

0.006
YT4k
YT4FRAME 0.008
YT8k
0.022
YT8FRAME
0.036

0.05
0.05

0.03

0.01

0.01

XT4k XT4FRAME XT8k XT8FRAME

0.03

0.05