A Functional Model of a Serial Redundant Robot
The paper presents the mobility calculation, geometry and kinematics of a robot arm. It is a serial robot whose main spatial kinematic chain consists of four revolute joints. Four continuous current electric motors are used for driving the serial robot. We carried out a structural analysis of the ro...
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Editura Eftimie Murgu
2018-12-01
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Online Access: | http://robotica-management.uem.ro/fileadmin/Robotica/2018_2/RM_2018_2_Pag_03_Antonescu.pdf |
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doaj-1da0b3b8488343d6b373b2211de882372020-11-24T22:09:26ZengEditura Eftimie MurguRobotica & Management1453-20692359-98552018-12-0123238A Functional Model of a Serial Redundant RobotOvidiu Antonescu0Mariana Trofimescu1Constantin Brezeanu2University "Politehnica" of BucharestDinu Lipatti High School, BucharestSilcotub S. A. (Tenaris Group) CalarasiThe paper presents the mobility calculation, geometry and kinematics of a robot arm. It is a serial robot whose main spatial kinematic chain consists of four revolute joints. Four continuous current electric motors are used for driving the serial robot. We carried out a structural analysis of the robot, which has four mobilities. We have used matrix calculus for the kinematic analysis of the serial robot arm so that we obtained the three Cartesian coordinates of the characteristic points according to the four independent angular parameters. By means of reversed kinematics, when the three coordinates of the end effector point are imposed, we deduced three non-linear equations with four angular unknown parameters, which proves the robot’s redundancy (an extra unknown parameter). Regarding the prehension mechanism, the kinematic schema with two symmetrical parallelograms has been presented, which ensures the circular translational motion of the two fingers.http://robotica-management.uem.ro/fileadmin/Robotica/2018_2/RM_2018_2_Pag_03_Antonescu.pdfserial robotkinematic schemamobilitymatrix calculusend effector |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ovidiu Antonescu Mariana Trofimescu Constantin Brezeanu |
spellingShingle |
Ovidiu Antonescu Mariana Trofimescu Constantin Brezeanu A Functional Model of a Serial Redundant Robot Robotica & Management serial robot kinematic schema mobility matrix calculus end effector |
author_facet |
Ovidiu Antonescu Mariana Trofimescu Constantin Brezeanu |
author_sort |
Ovidiu Antonescu |
title |
A Functional Model of a Serial Redundant Robot |
title_short |
A Functional Model of a Serial Redundant Robot |
title_full |
A Functional Model of a Serial Redundant Robot |
title_fullStr |
A Functional Model of a Serial Redundant Robot |
title_full_unstemmed |
A Functional Model of a Serial Redundant Robot |
title_sort |
functional model of a serial redundant robot |
publisher |
Editura Eftimie Murgu |
series |
Robotica & Management |
issn |
1453-2069 2359-9855 |
publishDate |
2018-12-01 |
description |
The paper presents the mobility calculation, geometry and kinematics of a robot arm. It is a serial robot whose main spatial kinematic chain consists of four revolute joints. Four continuous current electric motors are used for driving the serial robot. We carried out a structural analysis of the robot, which has four mobilities. We have used matrix calculus for the kinematic analysis of the serial robot arm so that we obtained the three Cartesian coordinates of the characteristic points according to the four independent angular parameters. By means of reversed kinematics, when the three coordinates of the end effector point are imposed, we deduced three non-linear equations with four angular unknown parameters, which proves the robot’s redundancy (an extra unknown parameter). Regarding the prehension mechanism, the kinematic schema with two symmetrical parallelograms has been presented, which ensures the circular translational motion of the two fingers. |
topic |
serial robot kinematic schema mobility matrix calculus end effector |
url |
http://robotica-management.uem.ro/fileadmin/Robotica/2018_2/RM_2018_2_Pag_03_Antonescu.pdf |
work_keys_str_mv |
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