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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/6393

Title: A new hybrid machine design for a 6 DOF industrial robot arm
Authors: Shaik, AA
Tlale, NS
Bright, G
Keywords: Industrial robot arms
Atomated manufacturing
Serial Kinematics Machines
SKMs
Parallel Kinematics Machines
PKM
Hybrid machine design
6 DOF robots
Robot arms
Robot design
Robot kinematics
Issue Date: May-2012
Publisher: Inderscience
Citation: Shaik, A.A, Tlale, N.S, and Bright, G. A new hybrid machine design for a 6 DOF industrial robot arm. International Journal of Intelligent Systems Technologies and Applications, Vol. 11 (1/2), pp 63-80
Series/Report no.: Workflow;9079
Abstract: Industrial robot arms are an essential part of automated manufacturing. They automate tasks such as component assembly, welding, light machining and spray painting due to their repeatability, speed and accuracy. The serial industrial robot arm architecture is the most ubiquitous in modern day manufacturing as its technology is mature; the machine architecture provides extreme dexterity and it has a large useful workspace. This architecture however does have some problems; first the machine mass distribution is not efficient as that mass is spread throughout the arm, and the arm itself contains significant inertia, which also leads to some inaccuracy and dynamic vibration problems. The reason for this lies in the location of the motors. This paper focuses on the conceptual design of a novel robotic arm having a hybrid nature, as its architecture departs from both the classic definitions of Serial Kinematics Machines (SKMs) and Parallel Kinematics Machines (PKMs).
Description: Copyright: 2012 Inderscience. This is the post-print version of the work. The definitive version is published in the International Journal of Intelligent Systems Technologies and Applications, Vol. 11 (1/2), pp 63-80
URI: http://www.inderscience.com/search/index.php?action=record&rec_id=46544
http://hdl.handle.net/10204/6393
ISSN: 1740-8865
Appears in Collections:Mobile intelligent autonomous systems
Manufacturing science and technology
General science, engineering & technology

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