Quasi-serial Manipulator for Advanced Manufacturing Systems

Bryan Kelly, J. Padayachee, G. Bright

Abstract

Industrial automation has revolutionised manufacturing and the manufacturing environment. Advanced manufacturing requires a variety of different robotic manipulators for industrial applications, each with their defining characteristics. This research paper describes the differences between current industrial manipulators; it then proposes an open chain hybrid kinematic platform, consisting of closed loop parallelograms. The application of such a hybrid mechanism is apparent with material handling operations such as providing solutions for palletizing. A quasi-serial architecture was selected and its corresponding components were 3D printed. The forward kinematic equations were derived via a geometric approach. The outputs of these kinematic equations are then validated against empirical results obtained through an equivalent SolidWorks model of the robot.

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Paper Citation


in Harvard Style

Kelly B., Padayachee J. and Bright G. (2019). Quasi-serial Manipulator for Advanced Manufacturing Systems.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 300-305. DOI: 10.5220/0007839003000305


in Bibtex Style

@conference{icinco19,
author={Bryan Kelly and J. Padayachee and G. Bright},
title={Quasi-serial Manipulator for Advanced Manufacturing Systems},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={300-305},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007839003000305},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Quasi-serial Manipulator for Advanced Manufacturing Systems
SN - 978-989-758-380-3
AU - Kelly B.
AU - Padayachee J.
AU - Bright G.
PY - 2019
SP - 300
EP - 305
DO - 10.5220/0007839003000305