Aspects on the Functional Optimization of an Industrial Robot Structure Implemented in Military Logistical Activities

The authors of the present paper outline aspects on the optimization of the a TR-type industrial robot structure movements in order to generate the manipulation space to a flexible manufacturing cell with a parallel organization designed for the pallet and container operation of paint-filled recipients. The paper contains the direct and inverted geometrical modelling of the robot structure using the 3*3 rotation matrix method and the algebra method. After knowing the characteristic point movement of the prehension device, graphics for the variation of the TR robot's general coordinates and for the trajectory of the prehension device's characteristic point of its work space were performed by using the Mathematica 6.0 soft. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)