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SELECTING A MANIPULATOR FOR THE TASK OF SORTING OBJECTS IN THE CONTINUOUS FLOW: SCARA MANIPULATOR STUDY
Journal: International Journal of Mechanical Engineering and Technology(IJMET) (Vol.9, No. 6)Publication Date: 2018-12-28
Authors : IVAN KRECHETOV ARKADY SKVORTSOV IVAN POSELSKY VLADISLAVS KOROTKOVS; PAVEL LAVRIKOV;
Page : 147-167
Keywords : SCARA; Delta robot; Cartesian robot; joints; end-effector; kinematic diagram; forward kinematics; Denavit-Hartenberg (DH); coordinate system; degrees of freedom (DOF); inverse kinematics; robotics sorting unit; robotic waste sorting.;
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Abstract
The objective of this work is to study the kinematic diagrams of robot manipulators for determination of the optimal kinematic scheme for use as a waste sorting complex to perform relocations with objects on a conveyor belt. The paper presents a description and a complete analytical solution to inverse kinematic of 4- DOF SCARA robot. The kinematics and dynamics of the SCARA robot have been analyzed.
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Last modified: 2018-12-26 15:35:34