Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

Wu, You; Yang, Zhen; Fu, Zhuang; Fei, Jian; Zheng, Hui

doi:10.1177/1729881417716634

Cited by 11 publications

(3 citation statements)

References 15 publications

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“…He researched a five-degree-of-freedom modular service robot, analyzed its kinematics, and theoretically analyzed and studied the flexibility of the mechanism motion space and the limit motion position of the mechanism by using Monte Carlo method and limit motion analysis method (He et al, 2010). Wu analyzed the Kinematics of a hybrid five-degree-of-freedom robot by geometric method and D-H matrix method (Wu et al, 2017). My proposed a…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and experiments of the hybrid robot for the HTGR plugging weld

Chen

Gao

et al. 2023

Mechanical Engineering Journal

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To solve the problem of unmanned plugging weld for the steam generator in high temperature gas cooled reactor, a new seven-degrees-of-freedom robot with 3-PSP and SCARA structure is designed based on the scheme of serial-parallel robot. In order to achieve simple and stable motion control, the D-H method and analytical method are used to study its serial-parallel kinematics and establish an accurate kinematics model. Based on MATLAB software and existing kinematic models, the Monte Carlo method is introduced to analyze the position and posture accessibility of the robot which has redundant degrees of freedom, and the rationality of the institutional design is verified. To ensure the high precision performance of the robot, the positional accuracy of the prototype is tested and analyzed under the different operating conditions by means of the standardized robot performance tests. In addition, in order to ensure the quality of plugging weld, through the T22 base material for several groups of TIG welding process experiments and mechanical properties testing to determine the reliable plugging welding process parameters. The results show that the robot can meet the requirements of plugging welding, and has accurate motion control, good reachability, high position and posture accuracy and strong expandability.

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Section: Introductionmentioning

confidence: 99%

Kinematic analysis and experiments of the hybrid robot for the HTGR plugging weld

Chen

Gao

et al. 2023

Mechanical Engineering Journal

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show abstract

Section: Introductionmentioning

confidence: 99%

“…Drilling robot can not only greatly reduce the intensity of manual labor and improve working conditions but also easily achieve automation and improve efficiency in the actual construction process. [5][6][7] The drilling arm of robot is like the "arm" of humankind, which is the central part of drilling robot. The drilling robot arm is the positioning mechanism of drilling robot, which is adopted to ensure the rock drill to work in the correct and stable condition.…”

Section: Introductionmentioning

confidence: 99%

Applying coordinate fixed Denavit–Hartenberg method to solve the workspace of drilling robot arm

Ding

Liu

2018

International Journal of Advanced Robotic Systems

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Drilling robot is a piece of large rock drilling equipment that integrates mechanical, electrical, and hydraulic technique, and it is a significant device for drilling and blasting. The drilling robot arm is the core component of the robot. To get intuitive and accurate modeling method to overcome the problem of the classic Denavit–Hartenberg method, for instance, the model mismatches the entity. The coordinate system fixed on the entity of Denavit–Hartenberg notation that is named coordinate-fixed Denavit–Hartenberg is creatively presented. The coordinate-fixed Denavit–Hartenberg method not only improves the accuracy and operability of kinematic analysis but also solves the workspace of drilling robot arm effectively. The drilling robot from an intelligent technology company in China is taken as the research example in this article. The homogeneous coordinate transformation matrix of each link rod is established through reasonably simplifying drilling robot arm as a multijoint structure. The coordinate-fixed Denavit–Hartenberg method is utilized for the first time in determining and verifying the kinematics equation of drilling robot arm. The kinematics equation is employed to obtain the effective workspace of drilling robot arm. The analysis results demonstrate that the design of drilling robot arm reaches the need of workspace in the actual structure as well as meets the functional requirements of drilling robot.

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Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism

Vasilić

Živanović

Kokotović

et al. 2021

Current Problems in Experimental and Computational Engineering

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The parallel 2DOF (Degrees of Freedom) mechanism presented in this paper has been the basis of much research by many authors. There are many significant results for the presented mechanism, and some of them are reported in this paper. The main goal of the research regarding the parallel mechanism is to create a hardware and software system that will be used to configure machine tools with three or more DOFs. The software system consists of two parts. One part is a set of applications intended for machine analysis and defining optimal configuration, and the other part is a control system of the machine adapted to the hardware of the machine, its configuration and purpose. For the presented mechanism, the kinematic model of the mechanism is described first. Based on the kinematic model, equations representing solutions of kinematics problems are derived. The derived equations are in a generalized form, with some variable parameters of the machine, and in such a form they correspond to every possible configuration of the reconfigurable mechanism. The equations are initially used to analyze some basic configurations, and then to analyze some configurations that have not been analyzed and presented so far. Also, equations in this form that are applicable for all possible configurations of the mechanism, are part of both parts of the software system. The final result of the presented procedures is one machine that has optimized parameters in accordance with the appropriate production process and with a configured control system that corresponds to the configuration of the machine.

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Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

Cited by 11 publications

References 15 publications

Kinematic analysis and experiments of the hybrid robot for the HTGR plugging weld

Kinematic analysis and experiments of the hybrid robot for the HTGR plugging weld

Applying coordinate fixed Denavit–Hartenberg method to solve the workspace of drilling robot arm

Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism

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