Selection Catalogue of Kinematic Configuration for Pick and Place Application

摘要

The goal of this research is to compare all possible configurations of a 3-DOF robot kinematic structure (RRR, RRT, RTR, TRR, RTT, TTR, TRT and TTT) and RRTR SCARA manipulator. All configurations have been scrutinized under various categories including the direct and inverse kinematics, singularity and workspace for the pick and place application. Obtained results allow us to choose the best possible configuration for a given tasks. Model validation of 3-DOF reconfigurable robot can also be done by choosing suitable reconfigurable parameters. This research proves to be a bridge between the current Manufacturing Systems and future Reconfigurable Manufacturing System (RMS).