KINETOSTATIC OF THE 3R DYAD (OR 2R MODULE)

Florian Ion Petrescu

Relly Victoria Petrescu

Abstract: This paper presents a method to determine the kinetostatic parameters at the
3R dyad. One proposes to determine the forces from joints: RB, RD, R23. To generalize the
method and to the 2R robots, are introduced and the two moments M 1, M2. This (2R
module) is the principal from the anthropomorphous rotation robotic structures and
mechatronic structures. Figure 1 shows a schematic diagram of the 3R dyad minimum
kinetostatic (determination of static forces); (loaded with the inertia forces, considered
external forces). For if there are additional external forces, such as technological
resistances will be added as well.
Keywords: 3R dyad, kinetostatic parameters, external forces, internal forces

R23y

2
RBy

iy
G2

M 2i

G2

s2
B

M1

x
B

l2

x
R23

s3

M2

FGix2

iy
G3

FGix3

G3
M 3i

l3

RDy

s3 '

3'
D

RDx

Fig. 1. The kinetostatic parameters to a 3R dyad

ENGEVISTA, V. 16, n. 3, p.314-321, Setembro 2014

314

1. INTRODUCTION
In this paper it presents a method able
to determine the kinetostatic parameters
to a 3R dyad (see the Figure 1) [1-4].
To generalize the method and to the
2R robots, are introduced and the two
moments M1, M2. This 2R module, is the
principal from the android rotation
robotic structures and mechatronic
structures [1], [3].
The 3R dyad has two elements, noted
with 2 and 3. Their lengths are l2 and l3.
If the 3R dyad is coupling to a 4R
mechanism, we note the forces which
give the entry into dyad, with R12 and
R03. In case the structure 2-3 is using to a
robot or to another mechanism, we note
the entrance forces, with RB and RD.
One proposes to determine the forces
from joints: RB, RD, R23.
Figure 1 shows a schematic diagram
of the 3R dyad minimum kinetostatic
(loaded with the inertia forces,
considered external forces).
For if there are additional external
forces, such as technological resistances
will be added as well.
One can consider and the forces of
gravity, if mechanism operates strictly
vertically and working speeds are low [14].
2. DETERMINING THE FORCES
FROM JOINTS
The joints forces represent the interior
loads (internal forces).
One proposes to determine these
(internal) forces.
We start with the internal force RB,
which is divided in two components in a
cartesian planar system: RBx , RBy .
If external forces are known in
general
(are
given,
determined,
calculated), internal forces (reactions of
kinematic couplings) results from the
balance of forces and moments of the
dyad [2], [3], [4].
To start [3] we are writing an
equation representing the sum of the
moments from element 2 in relation to
the point C, and another relationship
which represent the sum of all moments
from entire dyad, in relation to the point
D (system 1).

M C( 2 ) 0 RBx yC y B
y
RB xC xB M 1

ix
FG2 yC yG2
F iy x x M i 0
2
G2 C G2
(
2
,
3
)
x
M
D 0 RB y D y B
(1)
y

B
1
B D
F ix y y M i M
G2
2
2
G2 D
F iy x x M i
3
G2 D G2
ix
FG y D yG
3
3

iy
FG3 xD xG3 0
The two equations are rewritten in the
form of the system (2).

yC y B RBx xC x B RBy M 1

ix
iy
i
FG2 yC yG2 FG2 xC xG2 M 2

x
y
y D y B RB x D xB RB

ix
M 1 FG2 y D yG2
F iy x x M i M
D
G2
2
2
G2
F ix y y F iy x x M i
D
G3
G3
D
G3
3
G3

(2)

System (2) can be arranged as a linear

system (3) by two equations with two
unknowns R12x RBx ; R12y RBy , with the
coefficients, given from system (4).
a11 R12x a12 R12y a1

x
y
a 21 R12 a 22 R12 a 2

or

x
y
a11 R B a12 R B a1
a R x a R y a
22
B
2
21 B

a11 yC y B ; a12 xC x B ;
a M F ix y y
1
G2
C
G2
1
FGiy xC xG M 2i
2
2

a 21 y D y B ; a 22 x D x B ;

ix
iy
a 2 M 1 FG2 y D yG2 FG2 x D xG2
M i M F ix y y
2
2
G3
D
G3

F iy x x M i
G3
3
G3 D

(3)

(4)

Solutions of the system (3) will be

given by system (5).

ENGEVISTA, V. 16, n. 3, p.314-321, Setembro 2014

315


a11 a12 a a a a
11
22
12
21

a
a

21
22

a a
x 1 12 a22 a1 a12 a2

a2 a22

a11 a1

a11 a2 a21 a1
y

a21 a2

a a a a
x
RB R12 x 22 1 12 2 ;
a11 a22 a12 a21

a a a21 a1
RBy R12y y 11 2

a11 a22 a12 a21

(5)

Further determine other two internal

x
forces, R03
i R03y , or ( RDx i RDy ).
Next we write the sum of all forces
on the dyad (2,3) designed separately,
first on the x axis and then on the y axis,
(see the system 6).
Fx( 2,3) 0

x
ix
ix
x
R12 FG2 FG3 R03 0

x
x
x
ix
ix
RD R03 R12 FG2 FG3
(6)

( 2 , 3)
F

y
iy
iy
y
R12 FG2 FG3 R03 0
R y R y R y F iy F iy
D
03
12
G2
G3

Fx( 2) 0 R12x FGix

2

x
x
x
R23 0 R23 R12 FGix2

( 2)
y
iy
Fy 0 R12 FG2
y
y
y
iy
R23 0 R23 R12 FG2
(7)

( 3)
x
ix
Fx 0 R23 FG3
x
x
ix
x
RD 0 R23 FG3 RD
or
( 3)
y
iy
Fy 0 R23 FG3
R y 0 R y F iy R y
23
G3
D
D
For the last two scalar components of
the internal force from the joint C, one
writes a new balance of forces on element
2 (for example), designed separately on
axes x and y (system 7).
We obtained directly the internal
x
forces R23
and R23y . Their opposites, R32x

directed their, or in other words will have

the same value but opposite sign [3].
For that all kinetostatic calculations
of the 3R dyad to be possible, must be
determined in advance, the forces and
moments of inertia, separately for each
element of the dyad. These are called
the group of the inertial forces, and are
expressed with the relations system (8).
FGix m2 xG FGix m3 xG
3
3
2
2

FGiy2 m2 yG2 FGiy3 m3 yG3

i
i
M 2 J G2 2 M 3 J G3 3

x x s cos
B
2
2
G2

yG2 yB s2 sin 2

xG2 x B s2 sin 2 2

y G2 y B s2 cos 2 2

2
xG2 xB s2 cos 2 2 s2 sin 2 2

2
yG2 yB s2 sin 2 2 s2 cos 2 2

xG xD s3' cos 3'

3

yG3 yD s3' sin 3'

xG3 x D s3' sin 3' 3

y G3 y D s3' cos 3' 3

2
xG3 xD s3' cos 3' 3 s3' sin 3' 3

2
yG3 yD s3' sin 3' 3 s3' cos 3' 3

(8)

3. DIAGRAMS
OF
THE
FORCES FROM JOINTS
The joints forces can be determined
and represented by the two diagrams
below (Figure 2, and 3).
Below you can see the six forces
(internal forces) of joints from dyad 3R,
depending on the angle of the crank FI,
when the dyad is linked together with a
crank, forming a mechanism 4R [1-4].
Variation is represented on an entire
cycle kinematic, for an angular velocity
of crank, 200 or 300 [s-1].

and R32y , they will be equal but opposite

ENGEVISTA, V. 16, n. 3, p.314-321, Setembro 2014

316

R23y

2
R

y
B

FGiy2
M 2i

l2

G2

s2

iy
G3

M2

FGix2

FGix3

G3
M 3i

RBx

M1

x
R23

s3

l3

s3 '

Mm

y
D

3'
RDx

Fig. 2. The six internal forces of

joints;=200 [s-1]

Fig. 3. The six internal forces of

joints;=300 [s-1]

4. CONCLUSIONS
This method presented in the article,
is the most elegant and direct method to
determine the internal forces at a 3R dyad
[3] [1-11].
The method has a strong teaching
character.
The relationships presented in this
paper allow and the synthesis of robots
(the mechanical systems, serial, in
movement) [3].
5. IMPORTANCE AND USES
I-The first use of the reaction forces
from couplings, is sizing of the kinematic
couplings.
II-At the mechanisms with a degree
of mobility, with the forces from driving
coupling ( RBx , RBy ), it determines the
required motor torque ( M m ). We
illustrate by the mechanism articulated
quadrilateral (Fig. 4 and relationships 9).

Fig. 4. The forces at a mechanism articulated

quadrilateral
x
M m R21
yB y A R21y xB xA 0

x
y
M m R21 yB y A R21 xB x A

x
y
M m R12 yB y A R12 xB x A
M R x y y R y x x
m
B
B
A
B
B
A

(9)

Usually the torques M1 and M2 are

null. But they can be and an external
torque.
III-At the mechanisms with two
degree of mobility, with the forces from
driving coupling (see the Fig. 5), it
determines the required motor torques:
M1 M m 2 , M 2 M m3 .
R23y

2
R

y
B

FGiy2
M 2i

s2
B O2 M m2

G2

RBx

x
C O3
R23
iy
l2 3
F
M m3 s3 G3

FGix2

FGix3

G3
M

i
3

l3
s3 '

3'

DM

Fig. 5. The forces at a mechanism with two

degree of mobility

This
scheme
is
used
in
anthropomorphic robots. Coupling B is
denoted by O2. Coupling C is denoted by
O3. Coupling D become an end effector
point M. Basic structure 3R of
anthropomorphic robot (Fig. 6) can be
decomposed into 2R planar structure
(Fig. 5) which also possesses an
additional rotating around a vertical axis
(O0O1).

ENGEVISTA, V. 16, n. 3, p.314-321, Setembro 2014

317

Fig. 6. The basic structure 3R

It is more convenient to study the

structure plan O2O3M system (elements 2
and 3). But since this system (plan, 2R)
using balanced, it's good to study in its
balanced form (Fig. 7).

Fig. 7. The basic, balanced, structure 2R

Masses and lengths of the system are

calculated using the equation 10.

( 3)
M O3 0
m d m s m
s
3
3
3
III
3

ms d 3 m3 s3
3
mIII

m3' m3 ms mIII
(10)

(
2

3
)

M
0
O2
m3' d 2 m2 s2 mII 2

m3' d 2 m2 s2
2

mII

m2 ' m3' m2 mII

Forces from the driveline balanced
plan can be seen in the Fig. 8.

Fig. 8. The forces of the basic (balanced)

structure 2R

Now, it still writing inertial forces

(relations system 11) of the point O3.
FiOx 3 m3' xO3

2
m3' ()d 2 cos 20 20

2
m3' d 2 cos 20 20

y
FiO3 m3' yO3

2
m3' ()d 2 sin 20 20
m d sin 2
20
20
3' 2

M iO3 J O3 3

(11)

Now we are writing and the inertial

forces of the points S2 (12) and I2 (13).
x
2

FiS 2 m2 xS 2 m2 s2 cos 20 20
(12)
y
2

sin

2
S2
2
2
20
20
iS 2
x
2

FiI 2 mII xI 2 mII 2 cos 20 20 (13)

y
2

FiI 2 mII yI 2 mII 2 sin 20 20

Now we can write the equilibrium

equations on the element 2 projected on
the x (system 14) and y (system 15).
F x 0 m d cos 2 m s cos 2
3'
2
20
20
2
2
20
20
( 2)
2
mII 2 cos 20 20
ROx2 0

2
x
(m3' d 2 m2 s2 mII II ) cos 20 20 R12 0

but m3' d 2 m2 s2 mII II 0 because balanced

x
x
RO2 R12 0

(14)
F y 0 m d sin 2 m s sin 2
3'
2
20
20
2
2
20
20
( 2 )
m sin 2 m g R y 0
II
2
20
20
2'
12

2
y
(m3' d 2 m2 s2 mII II ) sin 20 20 m2 ' g R12 0

but m3' d 2 m2 s2 mII II 0 because balanced

y
y
RO2 R12 m2' g GO2

(15)
ENGEVISTA, V. 16, n. 3, p.314-321, Setembro 2014

318

It can be seen that the torque loads

are minimal precisely because balancing.
Effect given inertial forces (torques
produced by these forces) cancel (balance
due).
Torques produced by the forces of
gravity is canceled and they all balance
due.
Balanced final weight also makes the
powertrain only one effect, a vertical load
(causes a vertical reactor) in fixed
coupling.
At a total balanced, even the
horizontal load disappears.
It will still write an amount of
moments to the fixed point O2, on the
element 2 (system 16).

( 2)
x
M O2 0 M m2 FiO3 d 2 cos 20 2

y
x
y
FiO3 d 2 sin 20 FiS 2 s2 sin 20 FiS 2 s2 cos 20
2

x
y
FiI 2 2 cos 20 FiI 2 2 sin 20 M iO2 0

2
2

2 2
2 2
M m2 m3' d 2 20 cos 20 sin 20 m3' d 2 20 sin 20 cos 20
m s 2 2 cos sin m s 2 2 sin cos
20
20
2
2
20
20
20
2 2 20
2
2
mII 22 20
cos 20 sin 20 mII 22 20
sin 20 cos 20
*
*
*
J O2 2 0 M m2 J O2 2 0 M m2 J O2 2

(16)
Mass moment of inertia (or
mechanical) of the element 2, is
calculated with relation 17.
J O* 2 J O2 m3' d 22 m2 s22 mII 22 m3' d 22

(17)
One can determine now the torque
required (Mm2), which must be generated
by the actuator 2 (mounted in coupling
O2); see the relation (18).

M m2 J O* 2 2 m2 s22 mII 22 m3' d 22 20

(18)
We now sum of the moments of all
forces on item 3 in relation to swivel O3
(relationship 19).

( 3)
O3

M m3 M iO3 0 M m3 J O3 3 0
M m 3 J O3 3

F(3y) 0 m3' g R23y 0

y
(20)
R23 m3' g

R32y R23y m3' g

Horizontal component (of the

reaction from the kinematic coupling O3)
is zero (21).
x
(21)
R23
R32y 0
6. DYNAMICS OF SYSTEM 2R
(LAGRANGE DIFFERENTIAL
EQUATION OF THE SECOND
KIND)
It writes now, just the most important
relations of the system 2R, in the form
22.
M m2 J O* 2 2

M m3 J O3 3

M m s 2 m 2 m d 2
2
2
II
2
3'
2
20
m2
M m d 2 m s 2 m 2
s
3
3
3
III
3
30
m3
(22)
These relationships necessary to
study the dynamics of the kinematic
chain level (22), can be obtained directly
by another method, which uses Lagrange
differential equation of the second kind,
and the kinetic energy saving mechanism.
This method is more direct than
cinetostatic study,
but
has the
disadvantage of not determining the
loadings (reactions, internal forces) from
kinematics chain, necessary to calculate
the strength of the material in
applications in which certain dimensions
are selected (thickness or diameter) of the
kinematic elements 2 and 3, and
connecting joints.
One first determines the speeds, in the
gravity centers (relations from system 23,
and Fig. 9).

(19)

M m3 ms d32 m3 s32 mIII 32 30

One determines now and the vertical

component, of the reaction, from the
mobile (internal) coupling O3; (see the
relations of the system 20).
ENGEVISTA, V. 16, n. 3, p.314-321, Setembro 2014

319

 xO2 0;

y 0;
20
20
2
O2

xO3 d 2 sin 20 2 ;

yO3 d 2 cos 20 2 ;

30 30 3

(23)

Fig. 9. Dynamics of the driveline balanced

plan

For item 3, mass moment of inertia or

mechanical (inertial mass) is determined
by the relationship 24.
J O3 ms d32 m3 s32 mIII 32
(24)
For item 2, will cause mass moment
of inertia (mechanical) in fixed joint O2
(25).
J O2 m2 s22 mII 22
(25)
The kinetic energy of mechanism is
determined with the relations of the
system (26).
1
1

2
E

J O3 32
O
2
2

2
2

1
1
m x 2 m y 2
2 3' O3 2 3' O3
1
J O 22 1 J O 32
2
3
2
2
1
m d 2 2 1 J 2
(26)
2 3' 2 2 2 O3 3

1 2 J m d 2
3'
2
2 2 O2
1
J O 32 1 J O* 22
3
2
2
2

*
J O2 J O2 m3' d 22

Kinetic energy equation for the

balanced driveline is expressed with final
relationship (27).
1
1
(27)
E J O3 32 J O* 2 22
2
2
It uses the Lagrange differential
equations of second kind (28).

d E E

Qk

dt q k qk

with k 2, 3

(28)

d E E Q
2
dt q 2 q2

d E E
dt q q Q3
3
3
How kinetic energy in this case does
not depend directly from the kinematic
parameters of positions q2 and q3,
represented by the position angles 20
and 30, it can be used the simplified
form of the Lagrange equations (29).
d E
Qk with k 2, 3

dt

q
k

(29)
d E
d E
dt q Q2 dt M m2
2
2
d E
d E
Q3
M m3

dt 3
dt q3
By replacing the partial derivatives
and making the derivatives in function of
time, the system (29) takes the form (30).
E
d E
J O* 2 2 J O* 2 2 M m2
J O* 2 2

dt

2
2

E
d

J O3 3 J O3 3 M m3
J O3 3
3
dt 3

J * M
m2
O2 2
J M
m3
O3 3
J * m s 2 m 2 m d 2
2
2
II
2
3'
2
O2
J O ms d 32 m3 s32 mIII 32
3

2
2
2
M m2 m2 s2 mII 2 m3' d 2 2
M m d 2 m s 2 m 2
s
3
3
3
III
3
3
m3

ENGEVISTA, V. 16, n. 3, p.314-321, Setembro 2014

(30)
320

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