Quasi-serial Manipulator for Advanced Manufacturing Systems

Bryan Kelly, J. Padayachee, G. Bright

2019

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.

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