Classification of industrial robots according to the number of degrees of mobility-structural synthesis and useful configurations

Product Design, Robotics, Advanced Mechanical and Mechatronic Systems and Innovation Conference

工业技术（总论）;机械制造

Staretu, I.^1^2

Product Design, Mechatronics and Environment Department, Transilvania University of Brasov, Brasov, Romania^1

Technical Sciences Academy of Romania, Bucharest, Romania^2

关键词: Degree of mobility;    Hyper redundant;    Kinematic chain;    Mobility degrees;    Serial robots;    Structural synthesis;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/514/1/012023/pdf
DOI  :  10.1088/1757-899X/514/1/012023

学科分类：工业工程学

来源: IOP

【 摘 要 】

Industrial serial robots can be classified according to several criteria, the most important being: the number of mobility degrees or independent movements, the number of independent kinematic axes, the shape of the workspace, the value of the useful load, the precision of touching a predetermined point, etc. Among these criteria, the number of degrees of mobility directly determines the structure of the kinematic chain corresponding to the robot and implicitly its construction, functionality and utility. In this paper, we define the three classes of industrial serial robots according to the degree of mobility: the class of industrial serial robots of minimum configuration, the class of redundant industrial serial robots and the class of hyper-redundant industrial serial robots. For each class of industrial serial robots the structural synthesis method is presented and representative examples of structures are given.