Kinematic Design and Description of Industrial Robotic Chains

Today, industrial robots can replace humans in carrying out various types of operations. They can as well serve machine tools as to carry out various tasks like welding, handling, painting, assembling, dismantling, foundering, forging, packaging, palletizing ….in different areas of the mechanical, car, aerospace, automotive, electronics … and other industries. However, the complexity of the industrial process poses difficult problems for insertion and generation of the movements of a robot: the working environment of the robot is often complex and varied (presence of obstacles during the execution of a task for example). One of the objectives concerning the problems of computer-aide d design (CAD) of robots is the validation of their topological structures. The robotdesign engineer puts forth assumptions as regards the provision of the links and the joints of the mechanical articulated system. A first validation of this choice is of a geometrical nature (Merlet, 1996). At first sight the design of a mechanical architecture for a robot appears rather simple and yet it presents a very complex basic difficulty, as it must take into account not only the mechanical possibilities of realization but also the possibilities of control’s development, which passes by generating of a mathematical model. The latter strongly affects the mechanical design if good performances are sought. Many methods for mechanism description appeared with the creation of CAD systems (Warnecke, 1977) and (Coiffet, 1992). The existing methods may be separated into two categories: - description methods for classification (Roth, 1976),

[1]  J. Angeles,et al.  Optimum architecture design of platform manipulators , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[2]  T. S. Mruthyunjaya.  A computerized methodology for structural synthesis of kinematic chains: Part 2— Application to several fully or partially known cases , 1984 .

[3]  A. C. Rao,et al.  Computer aided structural synthesis of planar kinematic chains obviating the test for isomorphism , 2001 .

[4]  N I Manolescu.  A Unified Method for the Formation of All Planar Jointed Kinematic Chains and Baranov Trusses , 1979 .

[5]  Frank Erskine Crossley.  On an unpublished work of Alt , 1966 .

[6]  Trevor H. Davies,et al.  Structural analysis of plane linkages by Franke's condensed notation , 1966 .

[7]  Jacques M. Hervé,et al.  The mathematical group structure of the set of displacements , 1994 .

[8]  Wen Miin Hwang,et al.  Computer-aided structural synthesis of planar kinematic chains with simple joints , 1992 .

[9]  Peter Mitrouchev,et al.  Méthode de génération et description de mécanismes cinématiques plans en robotique , 1999 .

[10]  T. S. Mruthyunjaya.  A computerized methodology for structural synthesis of kinematic chains: Part 3— application to the new case of 10-link, three- freedom chains , 1984 .

[11]  Peter Mitrouchev,et al.  Symbolic structural synthesis and a description method for planar kinematic chains in robotics , 2001 .

[12]  J. A. Cabrera,et al.  Optimal synthesis of mechanisms with genetic algorithms , 2002 .

[13]  F. R. E. Crossley.  A Contribution to Gruebler’s Theory in the Number Synthesis of Plane Mechanisms , 1964 .

[14]  Samuel N. Cubero,et al.  Industrial Robotics: Theory, Modelling and Control , 2006 .

[15]  Subhash C. Kak,et al.  Inverse Kinematics in Robotics using Neural Networks , 1999, Inf. Sci..

[16]  T. S. Mruthyunjaya.  Structural synthesis by transformation of binary chains , 1979 .

[17]  A. E. Samuel,et al.  Kinematic chains for robot hands—II. Kinematic constraints, classification, connectivity, and actuation , 1995 .

[18]  Nicola Pio Belfiore,et al.  Distributed Databases for the development of Mechanisms Topology , 2000 .

[19]  J. M. Hervé,et al.  Asymmetrical 3-dof spherical parallel mechanisms , 2005 .

[20]  L. Romdhane,et al.  A combined genetic algorithm-fuzzy logic method (GA-FL) in mechanisms synthesis , 2004 .

[21]  Muhammad Arif,et al.  Cartesian path generation of robot manipulators using continuous genetic algorithms , 2002, Robotics Auton. Syst..

[22]  K. H. Hunt,et al.  Kinematic chains for robot hands. I: Orderly number-synthesis , 1995 .

[23]  Donald Lee Pieper.  The kinematics of manipulators under computer control , 1968 .

[24]  Jean-Pierre Merlet.  Workspace-oriented methodology for designing a parallel manipulator , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[25]  Ferdinand Freudenstein,et al.  Some Applications of Graph Theory to the Structural Analysis of Mechanisms , 1967 .

[26]  Jorge Angeles,et al.  USyCaMs: A Software Package for the Interactive Synthesis of Cam Mechanisms , 1997 .

[27]  T. S. Mruthyunjaya.  A computerized methodology for structural synthesis of kinematic chains: Part 1— Formulation , 1984 .

[28]  Arthur G. Erdman,et al.  Mechanism Design : Analysis and Synthesis , 1984 .