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Tham khảo tài liệu 'industrial robotics theory modelling and control part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Kinematic design and description of industrial robotic chains 109 kinematic graph contour molecule fl - p fl - A K a Figure 9. Mitsubishi Electric robot 5.2.5 Robot with a main structure having two degrees of mobility and I 2 The starting point for generating of the kinematic structure is the first logical equation of Table 7 Watt s structure . For the desired robot the Gi 6 structure thus obtained lacks one degree of mobility and five links. The following operations allow its completion cf. fig. 10 . Adding to this structure a frame and an end-effector the resulting mechanism of this operation corresponds to the main structure of the level 4 HPR Andromat robot. stage logical equation kinematic graph contour molecule first addition of three links and one degree of mobility G1 6 A1 3 G 2 9 Ỵ fl fl E a C q second addition of two links G 2 9 A0 2 G 2 11 a D Ờ- dopted solution fl Ỵ fl Ỵ E c a kx 110 Industrial Robotics Theory Modelling and Control mechanism robot Figure 10. Evolution of the generation of the Andromat robot topological chain source http arbejdsmiljoweb.dk upload rap_1_doc.doc Among the one hundred and ten available structures of type G2 11 a robot manufacturer has implemented the required solution above in order to design the main structure of the Andromat robot. According to the rules defined in 3.1.2. the frame initially a quaternary link was transformed into a quintarny one and the binary link where the end-effector was attached into a ternary one. This robot is equipped with a pantographic system with a working range of 2 5 m and weight range from 250 kg up to 2000 kg. The Andromat is a world-renowned manipulator which is widely and successfully used in foundry and forging industries enabling operators to lift and manipulate heavy and awkward components in hostile and dangerous environments. source http www.pearsonpanke.co.uk . During the initial design of the MS of robots the validation of their topological structures may be done by studying the .
