I. Juárez-Campos and M. Ramírez-Méndez (Mexico)
Robotics, Inverse Kinematics, Manipulator.
This investigation examines and proposes a novel mechanical structure with the ability to be adapted to pick-and-place operations. This novel arrangement has its origins from a particular 6-degree-of-freedom set of manipulators which transfer pieces according to the screw transformation. The mentioned manipulators position and orient a linkage which has the ability to simulate a screw and-nut mechanism. This nut, provided with the end-tool, undergoes the screw transformation. This is the main principle employed in the design of this sort of manipulators. The SBMF7 family is a set containing a sort of open spatial kinematic chains named as screw-based or helicoidal manipulators having 7 degrees of freedom. It possesses the PPSPP, RRSPP, RPSPP and the SPRPP arrangements. This paper presents the main characteristics dealing with the redundant RPSPP arrangement and the corresponding inverse kinematics.
Important Links:
Go Back
