Inverse kinematics of a serial-parallel robot used in hot forging process
In hot extrusion forging process, the use of robot arm for transferring heavy billets can reduce downtime, improve productivity, reduce worker fatigue and optimize the use of~energy and manpower. To increase the stiffness of the robot and force the end-effector move in directions parallel with...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
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Publishing House for Science and Technology
2016-06-01
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| Series: | Vietnam Journal of Mechanics |
| Subjects: | |
| Online Access: | https://vjs.ac.vn/index.php/vjmech/article/view/5958 |
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| Summary: | In hot extrusion forging process, the use of robot arm for transferring heavy billets can reduce downtime, improve productivity, reduce worker fatigue and optimize the use of~energy and manpower. To increase the stiffness of the robot and force the end-effector move in directions parallel with the ground surface, two parallel links are added to a standard serial manipulator. This modification of the structure could make it a bit of challenge in the system modelling and controlling. This paper addresses the inverse kinematics analysis that is the central issue for developing autonomous control modes of the robot application.
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| ISSN: | 0866-7136 2815-5882 |