Study of forces in a 2T9R robot mechanism

The paper presents in detail a method of calculating the forces acting on 2T9R type robot. In order to determine reactions (forces kinematic couples), one must first inertial mechanism which or more useful loads robot can be added. torsor inertia is calculated with help masses machine elements and accelerations from centers mass elements, so positions, velocities, it will determined, i.e. its complete kinematics. calculation applied by MathCad program intelligently uses data entry through IFLOG logic function that calculations automated. So effective automation done exclusively functions originally used paper.