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.
KeywordsCharacteristic Point Structural Systematization Relative Displacement Main Role Angular Displacement
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