Kinematics and Application of a Hybrid Industrial Robot – Delta-RST

• Main Authors: Ning Liu, Junjun Wu
• Format: Article
• Language: English
• Published: IFSA Publishing, S.L. 2014-04-01
• Series: Sensors & Transducers
• Subjects: Hybrid robots; Industrial robots; Kinematics analysis; Control and application.
• Online Access: http://www.sensorsportal.com/HTML/DIGEST/april_2014/Vol_169/P_PR_0112.pdf

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.