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Authors: Bryan Kelly ; J. Padayachee and G. Bright

Affiliation: Discipline of Mechanical Engineering, University of KwaZulu-Natal, King George V Avenue, Durban and South Africa

ISBN: 978-989-758-380-3

Keyword(s): Serial, Open Chain, Closed Chain, Parallel, Hybrid, Palletizing, Quasi-serial, Rapid Prototyping, 3D Printing, Kinematics, Closed Loop Parallelogram.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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 several formats:
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

@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},
}

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

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