TY - GEN
T1 - Kinematics analysis of a hybrid robot consisting of a SCARA and a parallel wrist
AU - Liang, Feng
AU - Zhang, Guoying
AU - Zhang, Tao
AU - Guan, Yisheng
AU - Liu, Guanfeng
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - For some manipulation tasks needing to change objects' orientation and position quickly, a hybrid robot, consisting of a 4-DOFs SCARA and a 3-DOFs (2R1T) parallel wrist, is presented. First, the swing and translation characteristics of the parallel wrist are quantitatively analyzed by numerical method, and its maximum swing angle and optimum working curve are obtained. A swing-rotation method for representing the attitude of the parallel wrist is proposed, and it can be transformed with the commonly used Azimuth-Swing method, which is the key to decouple kinematics of hybrid robots. Then, the singularity of the mechanism, when its attitude expressed by the proposed method, is also analyzed. The forward and inverse kinematic equations are derived in an analytical form. Finally, the kinematics simulation based on ADAMS verifies the correctness of the robot kinematics.
AB - For some manipulation tasks needing to change objects' orientation and position quickly, a hybrid robot, consisting of a 4-DOFs SCARA and a 3-DOFs (2R1T) parallel wrist, is presented. First, the swing and translation characteristics of the parallel wrist are quantitatively analyzed by numerical method, and its maximum swing angle and optimum working curve are obtained. A swing-rotation method for representing the attitude of the parallel wrist is proposed, and it can be transformed with the commonly used Azimuth-Swing method, which is the key to decouple kinematics of hybrid robots. Then, the singularity of the mechanism, when its attitude expressed by the proposed method, is also analyzed. The forward and inverse kinematic equations are derived in an analytical form. Finally, the kinematics simulation based on ADAMS verifies the correctness of the robot kinematics.
KW - Hybrid Robot
KW - Kinematics
KW - Parallel Wrist
UR - https://www.scopus.com/pages/publications/85079071432
U2 - 10.1109/ROBIO49542.2019.8961522
DO - 10.1109/ROBIO49542.2019.8961522
M3 - 会议稿件
AN - SCOPUS:85079071432
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 558
EP - 563
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -