Design and Kinematic Analysis of the Parallel Robot 4-DoF SCARA

被引：0
|
作者：
Annusewicz, Anna M. [1 ]
Laski, Pawel A. [1 ]
机构：
[1] Kielce Univ Technol, Aleja Tysiaclecia Panstwa Polskiego 7, PL-25314 Kielce, Poland
来源：
AUTOMATION 2018: ADVANCES IN AUTOMATION, ROBOTICS AND MEASUREMENT TECHNIQUES | 2018年 / 743卷
关键词：
Parallel robot; Wave transmission; Forward kinematics; Inverse kinematics; Parallel robot 4-DoF; MANIPULATOR;
D O I：
10.1007/978-3-319-77179-3_49
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The subject of the paper is a design of the robot with closed kinematic chain with three degrees of freedom. The paper presents the design of a 4-DoF SCARA mechanical robot and a gear unit that is part of its propulsion system. A simple and inverse task of kinematics was solved. On the basis of the equations of forward kinematics, the work space was defined.
引用
收藏
页码：518 / 527
页数：10
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