The Inverse Kinematics for Control of a New Class of Robots for Computer-Integrated Flexible Manufacturing

目前的六自由度机器人系统可以满足 需要进入广泛的地点， 在工作空间中的位置，但他们经常有 以次优的方式做这件事的缺点。 在 特别地，致动器超速效应通常 在试图保持恒定速度的过程中遇到的 特定类别的操作或机动，即，电弧 焊接. 如果不能保持恒定的速度， 性能降低，即，降低了焊接质量。 教授 戴维森设计了一个七自由度的类 机器人有可能避免超速 奇点 这个项目利用了这类机器人， 开发使用此类设备的工作单元的设计和合成 机器人 工作单元被定义为包括机器人、一个 或多个工具以一定角度和位置放置在端部 机器人的执行器连杆和固定装置。 这项研究是 通过五个步骤完成，包括（1）开发 代数量纲分析方程 机械手，（2）探索替代配方的 综合方程，以扩大设计变量的数量， (3)确定所使用的精确位置的最大数量 为了近似一个任务，（4）规定操纵器 根据机械手尺寸和行程的工作空间 范围在关节，和（5）提取额外的设计 最大化工作空间的条件， 这类机器人在这项研究中被考虑。 本研究的 影响将在未来的工业机器人领域 技术. 具体来说，这些结果可以减少 制造设置所需的工程时间，提供 计算机自动化设计程序的开发， 机床中刀具和夹具的放置，以及 是计算机自动化的重要一步。 机器人编程以完成特定的制造 任务 *

Current six degree of freedom robot systems can meet the requirement of accessing a broad range of locations and positions in a workspace, but they frequently have the disadvantage of doing this in a suboptimal way. In particular, actuator overspeeding effects are often encountered in an attempt to maintain a constant speed during a particular class of operations or maneuvers, i.e., arc welding. Failure to maintain constant speed can result in reduced performance, i.e., degraded weld quality. Professor Davidson has designed a class of seven degree of freedom robots which have the potential of avoiding the overspeeding singularities. This project exploits that class of robots and develops the design and synthesis of workcells which use such robots. Workcell is defined as a unit comprising a robot, one or more tools placed at some angle and position on the end effector link of the robot, and a fixture. The research is accomplished through five steps including (1) developing the equations for algebraic dimensional analysis of the manipulators, (2) exploring alternative formulations of the synthesis equations to expand the number of design variables, (3) determining the maximum number of precision locations used to approximate a task, (4) prescribing the manipulator workspace in terms of manipulator dimensions and excursion ranges at the joints, and (5) extracting additional design conditions to enable maximizing the volume of workspace for the class of robots considered in this study. The research's impact will be in the area of future industrial robot technology. Specifically, the results could reduce the engineering time required for manufacturing setup, provide for the development of computer automated procedures of design for the placement of tools and fixtures in workcells, and constitute an important step in the computer automated programming of a robot to accomplish a specific manufacturing task. *