METHOD TO DETERMINEUNCERTAIN CONFIGURATIONS OF ARTICULATED RECONFIGURABLE ROBOT

 

Alexandru DORIN, Tiberiu DOBRESCU

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Abstract: In this paper we present a solution to the inverse kinematics problems for articulated reconfigurable robot (ARR). The inverse kinematics is a method by which for a specified hand position the robot’ variable joint angles and variable link offset distances can be found. The method presented in this paper is general in that it will apply to robots with any link lengths, offset lengths, twist angles and joint angles and in that it can be applied to robots with revolute, cylindrical or prismatic joints. The equations used are derived using power products and dialytic elimination. Because result four configurations the choice of optimal solution for articulated reconfigurable robot to make using the criterion of kinematic accuracy for robots. Finally a numerical example is used to demonstrate the feasibility of the approach.

 

Key words: articulated reconfigurable robot, inverse kinematics, mechanical hand, robot module.

 

Authors:

Ph.D., Alexandru DORIN, Professor, University "Politehnica" of Bucharest, Machines and Production Systems Department,

E-mail: dorin1944@gmail.com

Ph.D., Tiberiu DOBRESCU, Associated Professor, University "Politehnica" of Bucharest, Machines and Production Systems Department,

E-mail: tibidobrescu@yahoo.com