Shaik, AATlale, NSBright, G2012-12-042012-12-042012-05Shaik, 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 63-801740-8865http://www.inderscience.com/search/index.php?action=record&rec_id=46544http://hdl.handle.net/10204/6393Copyright: 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 63-80Industrial 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).enIndustrial robot armsAtomated manufacturingSerial Kinematics MachinesSKMsParallel Kinematics MachinesPKMHybrid machine design6 DOF robotsRobot armsRobot designRobot kinematicsArticleShaik, A., Tlale, N., & Bright, G. (2012). A new hybrid machine design for a 6 DOF industrial robot arm. http://hdl.handle.net/10204/6393Shaik, AA, NS Tlale, and G Bright "A new hybrid machine design for a 6 DOF industrial robot arm." (2012) http://hdl.handle.net/10204/6393Shaik A, Tlale N, Bright G. A new hybrid machine design for a 6 DOF industrial robot arm. 2012; http://hdl.handle.net/10204/6393.TY - Article AU - Shaik, AA AU - Tlale, NS AU - Bright, G AB - 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). DA - 2012-05 DB - ResearchSpace DP - CSIR KW - Industrial robot arms KW - Atomated manufacturing KW - Serial Kinematics Machines KW - SKMs KW - Parallel Kinematics Machines KW - PKM KW - Hybrid machine design KW - 6 DOF robots KW - Robot arms KW - Robot design KW - Robot kinematics LK - https://researchspace.csir.co.za PY - 2012 SM - 1740-8865 T1 - A new hybrid machine design for a 6 DOF industrial robot arm TI - A new hybrid machine design for a 6 DOF industrial robot arm UR - http://hdl.handle.net/10204/6393 ER -