Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot
Terrestrial robots are being employed in a variety of sectors and for a variety of objectives. The purpose of this paper is to analyze and validate an analytical–numerical model of a robotic arm’s behavior. The proposed robot was designed to replace human personnel who remove ammunition or explosive...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-07-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/15/2355 |
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| author | Amado Ștefan Lucian Ștefăniță Grigore Ionica Oncioiu Daniel Constantin Ștefan Mustață Vlad Florin Toma Cristian Molder Damian Gorgoteanu |
| author_facet | Amado Ștefan Lucian Ștefăniță Grigore Ionica Oncioiu Daniel Constantin Ștefan Mustață Vlad Florin Toma Cristian Molder Damian Gorgoteanu |
| author_sort | Amado Ștefan |
| collection | DOAJ |
| description | Terrestrial robots are being employed in a variety of sectors and for a variety of objectives. The purpose of this paper is to analyze and validate an analytical–numerical model of a robotic arm’s behavior. The proposed robot was designed to replace human personnel who remove ammunition or explosive devices. At the same time, the influence of the stiffness of the EOD robotic arm on the position of the effector in a variety of geometric task configurations was investigated. In order to obtain results relevant to the investigation, the angles of rotation under the load of each component of the arm’s composition and the vertical movement of the effector were measured. The main conclusions emphasize that a lower stiffness comes from the components of linear motors, which act on the elements of the robotic arm, and they substantially influence the elastic behavior of the arm. In addition, the constructive components of the arm have high rigidity compared to those of the linear actuators. |
| first_indexed | 2024-03-09T05:30:21Z |
| format | Article |
| id | doaj.art-825f8c39a0d04bbe8b5464a02f812aff |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T05:30:21Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-825f8c39a0d04bbe8b5464a02f812aff2023-12-03T12:33:26ZengMDPI AGElectronics2079-92922022-07-011115235510.3390/electronics11152355Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD RobotAmado Ștefan0Lucian Ștefăniță Grigore1Ionica Oncioiu2Daniel Constantin3Ștefan Mustață4Vlad Florin Toma5Cristian Molder6Damian Gorgoteanu7Military Technical Academy “FERDINAND I”, 39-49 George Coșbuc Av., 050141 Bucharest, RomaniaMilitary Technical Academy “FERDINAND I”, 39-49 George Coșbuc Av., 050141 Bucharest, RomaniaFaculty of Finance-Banking, Accountancy and Business Administration, Titu Maiorescu University, 040051 Bucharest, RomaniaMilitary Technical Academy “FERDINAND I”, 39-49 George Coșbuc Av., 050141 Bucharest, RomaniaMilitary Technical Academy “FERDINAND I”, 39-49 George Coșbuc Av., 050141 Bucharest, RomaniaMilitary Technical Academy “FERDINAND I”, 39-49 George Coșbuc Av., 050141 Bucharest, RomaniaMilitary Technical Academy “FERDINAND I”, 39-49 George Coșbuc Av., 050141 Bucharest, RomaniaMilitary Technical Academy “FERDINAND I”, 39-49 George Coșbuc Av., 050141 Bucharest, RomaniaTerrestrial robots are being employed in a variety of sectors and for a variety of objectives. The purpose of this paper is to analyze and validate an analytical–numerical model of a robotic arm’s behavior. The proposed robot was designed to replace human personnel who remove ammunition or explosive devices. At the same time, the influence of the stiffness of the EOD robotic arm on the position of the effector in a variety of geometric task configurations was investigated. In order to obtain results relevant to the investigation, the angles of rotation under the load of each component of the arm’s composition and the vertical movement of the effector were measured. The main conclusions emphasize that a lower stiffness comes from the components of linear motors, which act on the elements of the robotic arm, and they substantially influence the elastic behavior of the arm. In addition, the constructive components of the arm have high rigidity compared to those of the linear actuators.https://www.mdpi.com/2079-9292/11/15/2355path planningEOD robotrobotic armcrawlersstiffness |
| spellingShingle | Amado Ștefan Lucian Ștefăniță Grigore Ionica Oncioiu Daniel Constantin Ștefan Mustață Vlad Florin Toma Cristian Molder Damian Gorgoteanu Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot Electronics path planning EOD robot robotic arm crawlers stiffness |
| title | Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot |
| title_full | Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot |
| title_fullStr | Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot |
| title_full_unstemmed | Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot |
| title_short | Influence of the Stiffness of the Robotic Arm on the Position of the Effector of an EOD Robot |
| title_sort | influence of the stiffness of the robotic arm on the position of the effector of an eod robot |
| topic | path planning EOD robot robotic arm crawlers stiffness |
| url | https://www.mdpi.com/2079-9292/11/15/2355 |
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