Hostname: page-component-586b7cd67f-t7czq Total loading time: 0 Render date: 2024-11-25T21:38:02.321Z Has data issue: false hasContentIssue false

Structure design and kinematics of a robot manipulator

Published online by Cambridge University Press:  09 March 2009

Kesheng Wang
Affiliation:
Production Engineering Laboratory, NTH-SINTEF, N-7034 Trondheim-NTH (Norway)
Terje K. Lien
Affiliation:
Production Engineering Laboratory, NTH-SINTEF, N-7034 Trondheim-NTH (Norway)

Summary

In this paper we show that a robot manipulator with 6 degrees of freedom can be separated into two parts: arm with the first three joints for major positioning and wrist with the last three joints for major orienting. We propose 5 arms and 2 wrists as basic construction for commercially robot manipulators. This kind of simplification can lead to a general algorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist. The approaches for numerical solution and closed form solution presented in this paper are very efficient and easy for calculating the inverse kinematics of robot manipulator.

Type
Research Article
Copyright
Copyright © Cambridge University Press 1988

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Warnecke, H.J., and Schraft, R.D., Industrial Robots (IFS Ltd, Bedford, 1982).Google Scholar
2.Lien, Terje K., Banestyring for universelle handterings-automter, (NTH, Trondheim, Norway, 1980).Google Scholar
3.Milenkovic, V. & Huang, B., “Kinematics of Major Robot Linkage13th International Symposium on Industrial Robots and Robot 7 2, 3146 (1983).Google Scholar
4.Coiffet, P. and Chirouze, M., An Introduction to Robot Technology (Kogan Page Ltd., London, 1983).CrossRefGoogle Scholar
5.Denavit, J., and Hartenberg, R. S., “A Kinematic Notation for Law Pair Mechanisms Based on MatricesJ. Appl. Mechanics Trans. ASME V. 77, 215221 (06, 1955).CrossRefGoogle Scholar
6.Pieper, D.L., “The Kinematics of Manipulators Under Computer Control,” AIM 72 (Stanford, Calif: Stanford University Artificial Intelligence Laboratory).Google Scholar
7.Paul, R.P., Robot Manipulators: Mathematics, Programming, and Control (The MIT Press, Cambridge, MA, 1982).Google Scholar
8.Lee, C.G.S., Fundamental of Robotics (Addison-Wesley, London 1983).Google Scholar