Stefan Staicu - Academia.edu (original) (raw)
Papers by Stefan Staicu
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
European Journal of Mechanics A-solids, 2010
Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear... more Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear train are established in the paper. The mechanism of the Minuteman cover drive is a system with four moving links and three gear pairs controlled by one electric motor. Knowing the rotation motion of the output link, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations. Finally, some simulation graphs for the input and output angles of rotation, the torque and the power of the actuator are obtained.
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Robotics and Computer-integrated Manufacturing, 2011
Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulat... more Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulator having six mobile prismatic actuators are established in this paper. Controlled by six forces, the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator's link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input velocities and accelerations, the input forces and powers are obtained.
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
European Journal of Mechanics A-solids, 2010
Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear... more Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear train are established in the paper. The mechanism of the Minuteman cover drive is a system with four moving links and three gear pairs controlled by one electric motor. Knowing the rotation motion of the output link, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations. Finally, some simulation graphs for the input and output angles of rotation, the torque and the power of the actuator are obtained.
Mechanism and Machine Theory, 2008
Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix... more Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics are established in the paper. The prototype of this mechanism is a 3-DOF system with seven links and four bevel gear pairs controlled by electric motors. Supposing that the rotational motion of the platform is known, an inverse dynamic problem is developed using the principle of virtual powers. Some relations and graphs for torques and powers of three actuators are determined.
Robotics and Computer-integrated Manufacturing, 2011
Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulat... more Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulator having six mobile prismatic actuators are established in this paper. Controlled by six forces, the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator's link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input velocities and accelerations, the input forces and powers are obtained.
Robotics and Computer-integrated Manufacturing, 2008
A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a... more A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example. r
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
International Journal of Manufacturing Research, 2008
Mechanism and Machine Theory, 2008
Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix... more Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics are established in the paper. The prototype of this mechanism is a 3-DOF system with seven links and four bevel gear pairs controlled by electric motors. Supposing that the rotational motion of the platform is known, an inverse dynamic problem is developed using the principle of virtual powers. Some relations and graphs for torques and powers of three actuators are determined.
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Robotics and Computer-integrated Manufacturing, 2008
A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a... more A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example. r
Nonlinear Dynamics
Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cyl... more Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot’s elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.
International Journal of Manufacturing Research, 2008
Computing Research Repository, 2009
Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel plan 3-PRP. Trei lan... more Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel plan 3-PRP. Trei lanţuri cinematice plane ce conectează platforma mobilă a manipulatorului sunt situate în plan vertical. Cunoscând mişcarea platformei, se dezvoltă cinematica inversă şi se determină poziţiile, vitezele şi acceleraţiile robotului. Unele ecuaţii matriceale oferă expresi iterative şi grafice pentru deplasările, vitezele şi acceleraţiile celor trei acţionori de translaţie.
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
European Journal of Mechanics A-solids, 2010
Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear... more Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear train are established in the paper. The mechanism of the Minuteman cover drive is a system with four moving links and three gear pairs controlled by one electric motor. Knowing the rotation motion of the output link, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations. Finally, some simulation graphs for the input and output angles of rotation, the torque and the power of the actuator are obtained.
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Robotics and Computer-integrated Manufacturing, 2011
Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulat... more Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulator having six mobile prismatic actuators are established in this paper. Controlled by six forces, the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator's link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input velocities and accelerations, the input forces and powers are obtained.
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
European Journal of Mechanics A-solids, 2010
Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear... more Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear train are established in the paper. The mechanism of the Minuteman cover drive is a system with four moving links and three gear pairs controlled by one electric motor. Knowing the rotation motion of the output link, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations. Finally, some simulation graphs for the input and output angles of rotation, the torque and the power of the actuator are obtained.
Mechanism and Machine Theory, 2008
Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix... more Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics are established in the paper. The prototype of this mechanism is a 3-DOF system with seven links and four bevel gear pairs controlled by electric motors. Supposing that the rotational motion of the platform is known, an inverse dynamic problem is developed using the principle of virtual powers. Some relations and graphs for torques and powers of three actuators are determined.
Robotics and Computer-integrated Manufacturing, 2011
Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulat... more Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulator having six mobile prismatic actuators are established in this paper. Controlled by six forces, the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator's link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input velocities and accelerations, the input forces and powers are obtained.
Robotics and Computer-integrated Manufacturing, 2008
A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a... more A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example. r
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
International Journal of Manufacturing Research, 2008
Mechanism and Machine Theory, 2008
Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix... more Recursive matrix relations concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics are established in the paper. The prototype of this mechanism is a 3-DOF system with seven links and four bevel gear pairs controlled by electric motors. Supposing that the rotational motion of the platform is known, an inverse dynamic problem is developed using the principle of virtual powers. Some relations and graphs for torques and powers of three actuators are determined.
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Robotics and Computer-integrated Manufacturing, 2008
A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a... more A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example. r
Nonlinear Dynamics
Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cyl... more Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot’s elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.
International Journal of Manufacturing Research, 2008
Computing Research Repository, 2009
Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel plan 3-PRP. Trei lan... more Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel plan 3-PRP. Trei lanţuri cinematice plane ce conectează platforma mobilă a manipulatorului sunt situate în plan vertical. Cunoscând mişcarea platformei, se dezvoltă cinematica inversă şi se determină poziţiile, vitezele şi acceleraţiile robotului. Unele ecuaţii matriceale oferă expresi iterative şi grafice pentru deplasările, vitezele şi acceleraţiile celor trei acţionori de translaţie.
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.