The most important criteria for classifying serial industrial robots are: 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, and so on. Among these criteria, the number of degrees of mobility determines the structure of the kinematic chain corresponding to the robot and, by extension, its construction, functionality, and utility. In this paper, we define three types of industrial serial robots based on their mobility: the minimum configuration class of serial industrial robots. The structural synthesis method and representative examples of structures are presented for each class of serial industrial robots. Workspaces for two versions of redundant chains are represented, first sequentially, successively for each coupling, beginning with the first coupling from the kinematic chain base, and then completely by overlapping workspaces obtained for each coupling. We also present direct kinematics analysis for kinematic chains with 6 and 8 axes using the homogeneous operators method.
Author (S) Details
Ionel Staretu
Transilvania University of Brasov, Romania and Technical Sciences Academy of Romania, Bucharest, Romania.
View Book :- https://stm.bookpi.org/NAER-V1/article/view/1910
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