Structural and Geometrical Systematization of Spatial Positioning Kinematic Chains Employed in Industrial Robots
It is considered that the open kinematic chain of a manipulator type industrial robot (IR) is formed of an orienting open kinematic chain (OC), whose main role is the angular displacement of a body around a characteristic point M, and of a positioning open kinematic chain (PC) having as the main role the linear displacement of the point M in space and, implicitly, the generation of a geometric locus, which forms the working space of IR.
In this paper, which is an expansion of (4), a structural systematization of trimobile PC, which describes non-degenerated workspaces, and two geometrical-kinematic systematization meant for the optimization of the PC “architecture” are proposed. These systematizations are useful in the optimization of IR design.
Unable to display preview. Download preview PDF.
- 1.WARNECKE,H.J.,SCHRAFT,R.O. A computer-aided method to design an industrial robot.Sec.Int.CISM-IFToMM Symp.Wersaw,Polend,1976.Google Scholar
- 2.PAVLENKO.I.I. Konstruktivnye i kinematičeskye varianty promyšlennyh robotov. Vestnik mašinostr..nr.11,1980.s.3–5.Google Scholar
- 3.BOLOTIN,L.M. Analiz kinematiceških struktur promišlennyh robotov. Mašinovedenie, nr.2, 1984. 5. 33–39.Google Scholar
- 4.DUDITZA.FL..DIACONESCU.D. Sinteze structurală a mecanismelor de transport din R.I. Symp.MTM,Timipoara. 1984.p. 39–48.Google Scholar