The Forces of a Simple Carrier Manipulator

Abstract

The present paper shows how to analytically determine the forces acting within a simple manipulator. Forces acting within any device or car have an important role because they are the ones that define the real movement of that device, the dynamic movement, movement that is very different from the cinematic imaginable by geometric-kinematic engineering calculations. To know the real movement of a device or object, it is, therefore, necessary first to determine all the forces that act on that device. In robots and manipulators, it is all the more important to know their real movement as they replace the man in heavy, daily, repetitive, tiring work. The known external forces acting on the studied manipulator, that is, the inertial forces, are initially calculated by means of the masses of the manipulator mechanism and their accelerations and then may be determined through specific analytical equations and the unknown internal forces of the system acting on the kinematic couplings of the manipulating mechanism considered.