Numerical analysis of spatial RRR manipulator dynamics

Ovaj diplomski rad bavi se izvodom kinematskog i dinamičkog modela RRR manipulatora. Izvedena je dinamicka jednadzba i jednadzba gibanja manipulatora, koja se pomocu unesenih pocetnih uvjeta precizno definira. Za zadanu pocetnu i krajnju tocku program racuna putanju prihvatnice, koja u kombinaciji sa zadanim duljinama i masama dijelova manipulatora crta dijagrame torzijskih momenata potrebnih za konstrukciju robota.This thesis deals with the derivation of the kinematic and dynamic model of the RRR manipulator. The dynamic equation and the equation of motion of the manipulator are derived, which are defined using the chosen initial conditions. For a chosen start and end point, the program calculates the path of the receiver, which, in combination with the given lengths and masses of the manipulator parts, draws diagrams of the torsional moments required for the construction of the robot