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Chapitre D'ouvrage Année : 2007

Kinematic design and description of industrial robotic chains

Résumé

Generally speaking, the problem of synthesis of mechanism can be broken down into three sub problems: i) the specification of the problem, ii) the topological synthesis of the mechanism and iii) the dimensional synthesis. This chapter relates in particular to the second sub problem. The chapter could be useful for teachers, researchers, engineers and students who are confronted with the various types of problems concerning the choice of kinematic chains in the initial phase of the topological structural design of an industrial robot. The principal goal of the chapter is to present an overview concerning the chronology of the design of the kinematic chain of an industrial robot. It starts with a review of the methods of synthesis of mechanisms provided by the MMT; then it deals with their representation, validation and concludes with the application of these mechanisms in the initial design phase of industrial robots. The chapter begins with the presentation of a new method for structural synthesis of planar link chains in robotics. It is based on the notion of logical equations. After a brief reminder of the theory of Modular Structural Groups (MSG), and of the connectivity and mobility laws of MMT, various levels of abstraction are studied concerning the complexity of the structure. This permits the synthesis of planar chains with various degrees of complexity expressed by the number of links, joints and the degree of mobility. The logical equations allow the association of MSGs of type A and closed chains of type G. The rules for associations of groups are also presented. The aim is to execute all the possible combinations to join or transform the links in order to obtain as many structures as possible by avoiding those, which are isomorphic. The association of two groups allows the elaboration of different closed chains of upper level. However there are some defect structures, which do not respect the connectivity and mobility laws. Therefore great care has been taken to avoid them. The problem of degenerated structures is central in the synthesis of structures. It concerns especially chains with two and more degrees of mobility. The problem of defect, degeneration and isomorphism is then approached. Finally, a method for description of chains by contours and molecules is proposed. It enables the reduction of the number of the topological structures of the robots concerning the position of the frame and the end-effector of the robot by comparing their respective molecules. This method is then applied for the description of the structures thus obtained (logical equations approach) and for the description of the topology of the principal structure of the industrial robots in the initial phase of their design.
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Dates et versions

hal-00185700 , version 1 (06-11-2007)

Identifiants

  • HAL Id : hal-00185700 , version 1

Citer

Peter Mitrouchev. Kinematic design and description of industrial robotic chains. Verlag. Industrial Robotics: Theory, Modelling & Control, Sam Cubero, pp.83-116, 2007. ⟨hal-00185700⟩
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