Workspace Analysis of a 6-DOF Installing-Calibrating Robot

Zhi Jiang Xie; Cheng Li; Wei Ni; Nan Liu

doi:10.4028/www.scientific.net/AMR.422.75

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 422Workspace Analysis of a 6-DOF...

Workspace Analysis of a 6-DOF Installing-Calibrating Robot

Abstract:

According to the working characteristics and installment environments of modules，a compact 6-DOF installing-calibrating robot was designed. Coordinate systems of joints are set upand the forward kinematic solution are derived by using D-H methods. Using the Monte Carlo method based on random probability and MATLAB software simulation for the robot's structural parameters to the robot's workspace impact. According to joint space to the mapping workspace，robots have been the workspace. The research results have proved that the designed configuration can satisfy the needs of installment action，which will provide theoretical reference for the robot trajectory planning，dynamic analysis and online real-time calculation.

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Periodical:

Advanced Materials Research (Volume 422)

Pages:

75-78

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.422.75

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Online since:

December 2011

Authors:

Zhi Jiang Xie, Cheng Li, Wei Ni, Nan Liu

Keywords:

Forward Kinematic Solution, Installing-Calibrating Robot, Monte-Carlo Method (MC-Method), Workspace

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