CLASS OF REDUNDANT SERIAL ROBOTS WITH 7 UP TO 12 AXES – DEFINITION, STRUCTURAL SYNTHESIS AND WORKSPACE

Abstract

In this paper, for the first time, serial kinematic chains of industrial robots are classified into: minimal serial kinematic chains (6 axes), redundant serial kinematic chains (to 12 axes)and hyper-redundant serial kinematic chains(more than 12 axes). Redundant serial robot kinematic chains with 7 till 12 axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new structures with 7 or more axes, besides some already existing and applied structures. This paper summarizes kinematic chain structures using a combinatorial method by listing all possible variants of the structures with 7 till 12 axes, obtained by adding a rotational or translational coupling, in a parallel or perpendicular position, against the guiding structure with 6 axes consisting of two distinct modules: positioning module(PM:3 axes)and orientation module(OM:3 axes). Representation of proper workspaces can help the designer in choosing the structure with maximum functionality for a given application