STRUCTURAL SYNTHESIS FOR REDUNDANT INDUSTRIAL ROBOTS WITH MORE 6 AXES

Abstract

This paper presents the most possible structures with 7 or 8 axes, which correspond to non-degenerate workspaces of which one can choose other variants than existing ones, to be manufactured. Structures of kinematic chains with more of 8 axes can be obtained from 6-axis ones, by adding three axes (three monomobile kinematic couplings) of rotation or translation or combined RRR, respectively, TTT, than by adding four axes, five axes or six axes. Some of these structures may have specific functional advantages in certain situations, which will be validated for sure by future practical applications. Redundant kinematic chains with 7 or 8 axes (7 or 8 monomobile rotation or translation couplings) or more axes, but not more 12 axes, have proved to be useful and some variants are already applied in some industrial robots already existing in practice. In the next papers representation of workspace helps the designer to choose structures that may have a high degree of functionality for a given range of applications. Kinematic analysis based on the method of homogeneous operators exemplifies the possibility to resolve this issue in the case of these redundant robots too.