Kinematics and Application of a Hybrid Industrial Robot – Delta-RST
Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta paral...
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IFSA Publishing, S.L.
2014-04-01
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doaj-865359aaf3c64c72bb5ccb6a046ccad32020-11-24T23:11:58ZengIFSA Publishing, S.L.Sensors & Transducers2306-85151726-54792014-04-011964186192 Kinematics and Application of a Hybrid Industrial Robot – Delta-RSTNing Liu0Junjun Wu1College of Information Science and Technology, Jinan University, 510632, China Department of Software, Guangdong Food and Drug Vocational College, 510520, ChinaSerial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis and its applications in industry. Firstly, the robotic system of the Delta-RST will be described briefly. Then the complete and systemic kinematics of this kind of robot will be presented in detail, followed by simulations and applications to demonstrate the correctness of the analysis, as well as the effectiveness of the developed robotic system. The closed-form kinematic analysis results are universal for similar hybrid robots constructing with the Delta parallel mechanism and serial chains. http://www.sensorsportal.com/HTML/DIGEST/april_2014/Vol_169/P_PR_0112.pdfHybrid robotsIndustrial robotsKinematics analysisControl and application. |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ning Liu Junjun Wu |
spellingShingle |
Ning Liu Junjun Wu Kinematics and Application of a Hybrid Industrial Robot – Delta-RST Sensors & Transducers Hybrid robots Industrial robots Kinematics analysis Control and application. |
author_facet |
Ning Liu Junjun Wu |
author_sort |
Ning Liu |
title |
Kinematics and Application of a Hybrid Industrial Robot – Delta-RST |
title_short |
Kinematics and Application of a Hybrid Industrial Robot – Delta-RST |
title_full |
Kinematics and Application of a Hybrid Industrial Robot – Delta-RST |
title_fullStr |
Kinematics and Application of a Hybrid Industrial Robot – Delta-RST |
title_full_unstemmed |
Kinematics and Application of a Hybrid Industrial Robot – Delta-RST |
title_sort |
kinematics and application of a hybrid industrial robot – delta-rst |
publisher |
IFSA Publishing, S.L. |
series |
Sensors & Transducers |
issn |
2306-8515 1726-5479 |
publishDate |
2014-04-01 |
description |
Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis and its applications in industry. Firstly, the robotic system of the Delta-RST will be described briefly. Then the complete and systemic kinematics of this kind of robot will be presented in detail, followed by simulations and applications to demonstrate the correctness of the analysis, as well as the effectiveness of the developed robotic system. The closed-form kinematic analysis results are universal for similar hybrid robots constructing with the Delta parallel mechanism and serial chains.
|
topic |
Hybrid robots Industrial robots Kinematics analysis Control and application. |
url |
http://www.sensorsportal.com/HTML/DIGEST/april_2014/Vol_169/P_PR_0112.pdf |
work_keys_str_mv |
AT ningliu kinematicsandapplicationofahybridindustrialrobotdeltarst AT junjunwu kinematicsandapplicationofahybridindustrialrobotdeltarst |
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1725603147756339200 |