Poly-Articulated System with Spatial Positioning

Abstract:

Researchers in the field of robotics have intense preoccupations on building cheaper and faster robots, with higher accuracy and repeatability, with modulated architectures, diversified in terms of design and oriented to the most diverse activities. The present work is placed in this context; it presents a new poly-articulated system, brevetted, with availability for spatial positioning at high accuracy and repeatability. Thus the robot can insert its arm through windows of small size and place the arm behind a panel etc. The modular structure of its joints provides the possibility for obtaining several advantages on performing various configurations in a short time and on lower expenses. At the same time, the driving and control systems of the rotary axes are conceived in closed loop that confers the premises for obtaining a high positioning accuracy.

• Periodical: Applied Mechanics and Materials (Volume 371)
• Pages: 411-415
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.371.411
• Online since: August 2013
• Authors: Gheorghe Stan
• Keywords: Accuracy, Joint, Poly-Articulated Arm, Proportional Distributor, Robot

References

[1] ** Leaflets and commercial documentations from industrial robots manufacturing companies: ABB, ACMA – RENAULT, COMAU, FANUC, KUKA, REIS etc.

[2] G. Stan, A. Pal, R. C. Ciobanu, Poly-articulated mechanism, Romania Patent no. 122904 B1, (2010).

[3] V. Dumitru, D. Dumitru, The polyarticulated system for minimally invasive interventions, The Fifth International Conference on Optimization of the Robots and Manipulators, 2010, pp.102-108.

[4] G. Stan, Closed-loop mechanical transmissions, Junimea, Iasi, (2000).

[5] G. Stan, Optimizing the choice of the response times of the industrial robot servomechanisms in order to minimize the path error, in: D. Nedelcu, S. Mazuru, O. Milosevici (Eds. ), Proceedings ModTech Iasi, 2010, pp.551-554.