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http://dx.doi.org/10.21289/KSIC.2020.23.5.875

Development of a Novel 3-DOF Hybrid Robot with Enlarged Workspace  

Jeong, Sung Hun (Dept. of Mechanical Convergence Engineering, Kyungnam University)
Kim, Giseong (Dept. of Mechanical Convergence Engineering, Kyungnam University)
Gwak, Gyeong Min (Dept. of Mechanical Convergence Engineering, Kyungnam University)
Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.23, no.5, 2020 , pp. 875-880 More about this Journal
Abstract
In this paper, a novel 3-DOF hybrid robot with enlarged workspace is presented for high speed applications. The 3-DOF hybrid robot is made up of one linear actuator and 2-DOF planar parallel robot in series. The actuation consists of one ball-screw to make one linear motion and two rotary ball-screws to transmit rotational motion to 2-DOF parallel robot. The workspace can be enlarged according to ball-screw stroke and the moving inertia can be reduced due to locating all the heavy actuators at the fixed base. The inverse kinematics and workspace analyses are presented. The robot prototype and PC-based control system are developed.
Keywords
Hybrid Robot; Parallel Robot; Enlarged Workspace; Rotary Ball Screw; High speed;
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