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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Main Authors: Ovidiu Antonescu, Mariana Trofimescu, Constantin Brezeanu
Format: Article
Language:English
Published: Editura Eftimie Murgu 2018-12-01
Series:Robotica & Management
Subjects:
Online Access:http://robotica-management.uem.ro/fileadmin/Robotica/2018_2/RM_2018_2_Pag_03_Antonescu.pdf
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spelling 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
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