Redundant serial industrial robots class-structural synthesis and useful configuration

Ionel Staretu

Abstract


For the first, the industrial serial robots can be classified according the number of mobility degrees or independent movements, the number of independent kinematic axes, the shape of the workspace, the value of the useful load, the precision of touching a predetermined point, etc. The number of degrees of mobility directly determines the structure of the kinematic chain corresponding to the robot and implicitly its construction, functionality and utility. In this paper, we define the class of redundant industrial serial robots. For the redundant industrial serial robots the structural synthesis method is presented and for each type of representative examples of structures are given.

Keywords


Industrial serial robot; Redundant;

Full Text:

PDF

References


I. Ion, L. Vladareanu, R. Jr. Munteanu and M. Munteanu, "The improvement of structural and real time control performances for MERO modular," Advances in Climbing and Walking Robots, Word Scientific Publishing, pp. 252-263, 2007.

X. J. Wang, X. Wang, H. Yu, H. Wang, L. Lu, L. Vladareanu and O. D. Melinte, "Dynamic analysis for the leg mechanism of a wheel-leg hybrid rescue robot," in UKACC International Conference on Control (CONTROL), Loughborough, UK, pp. 504 – 508, 2014.

Fl. Dudita, D. Diaconescu and Gr. Gogu, "Linkages mechanisms ( in Romanian)," Bucharest, Editura Tehnica, 1989.

I. Staretu, "Class of redundant serial robots with 7 up to 12 axes-definition, structural synthesis and workspace," in Proceedings of the 6th International Conference Computational Mechanics and Virtual Engineering COMEC 2015(CD), pp. 1-6, 2015.

M. Ivanescu, "On the dynamic control of hyper-redundant manipulators," Advances in Automatic Control, Dordrecht-Kluwer Academic Publishers, pp. 141-158, 2004.

V. Vladareanu, I. Dumitrache, L. Vladareanu, S. I. Sacală, G. Tonţ and A. M. Moisescu, "Versatile Intelligent Portable Robot Control Platform Based on Cyber Physical Systems Principles," Studies in Informatics and Control, vol. 24 (4), pp. 409-418, 2015.

S. Brell-Cokcan, M. Reis, H. Schmiedhofer and J. Braumann, "Digital Design to Digital Production: Flank Milling with a 7-Axis Robot and Parametric Design," in Proceedings of the 27th eCAADe Conference, pp. 323-330, 2009.

R. Qi, T.L. Lam, H. Qian and Y. Xu,




DOI: http://dx.doi.org/10.21533/pen.v7i1.415

Refbacks

  • There are currently no refbacks.


Copyright (c) 2019 Ionel Staretu

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

ISSN: 2303-4521

Digital Object Identifier DOI: 10.21533/pen

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License