Publication detail

The theory of basic kinematic chain structures and its effect on their application in the design of industrial robot positioning mechanisms

KOLÍBAL, Z.

Czech title

Teorie základních struktur kinematických řetězců a jejich vliv na jejich aplikace v konstrukci polohovacích mechanizmů průmyslových robotů

English title

The theory of basic kinematic chain structures and its effect on their application in the design of industrial robot positioning mechanisms

Type

book

Language

en

Original abstract

This monograph represents the results of many years of studying the design of industrial robots and their basic kinematic chains (positioning assemblies). After working his way through a number of published sources the author has come to the conclusion that this area has not been comprehensively and clearly analyzed and the approach to the design and the results differ from author to author. The methodology of the present work is based in the generally recommended combinatorial algoritms for the basic kinematic chains of industrial robots, their comprehensive analysis for n-degrees of freedom, and finaly, the application to positioning mechanism with three degrees of freedom, giving the individual industrial robots a specific character of their own, which is shown at the end of the monograph using practical examples.

Czech abstract

Tato monografie představuje výsledky dlouholetého sledování stavby průmyslových robotů a skladby jejich základních kinematických řetězců (polohovacího ústrojí). Metodika této práce vychází z obecně doporučovaných kombinátorických algoritmů základních kinematických řetězců průmyslových robotů, jejich komplexní analýzy pro n-stupňů volnosti a následné praktické aplikace pro polohovací ústrojí o třech stupních volnosti, dávající jednotlivým průmyslovým robotům jejich specifický charakter, což je v závěru této monografie představeno na konkrétních příkladech.

English abstract

This monograph represents the results of many years of studying the design of industrial robots and their basic kinematic chains (positioning assemblies). After working his way through a number of published sources the author has come to the conclusion that this area has not been comprehensively and clearly analyzed and the approach to the design and the results differ from author to author. The methodology of the present work is based in the generally recommended combinatorial algoritms for the basic kinematic chains of industrial robots, their comprehensive analysis for n-degrees of freedom, and finaly, the application to positioning mechanism with three degrees of freedom, giving the individual industrial robots a specific character of their own, which is shown at the end of the monograph using practical examples.

Keywords in Czech

robot, kinematické řetězce, kombinátorické algoritmy, aplikace

Keywords in English

robot, kinematic chain, combinatorial algoritms, application

RIV year

2001

Released

01.05.2001

Publisher

Akademické nakladatelství CERM, Brno

Location

Brno

ISBN

80-7204-196-7

Book

The theory of basic kinematic chain structures and its effect on their application in the design of industrial robot positioning mechanisms.

Edition number

1.

Pages count

70

BIBTEX


@book{BUT61278,
  author="Zdeněk {Kolíbal},
  title="The theory of basic kinematic chain structures and its effect on their application in the design of industrial robot positioning mechanisms",
  booktitle="The theory of basic kinematic chain structures and its effect on their application in the design of industrial robot positioning mechanisms.",
  year="2001",
  month="May",
  publisher="Akademické nakladatelství CERM, Brno",
  address="Brno",
  isbn="80-7204-196-7"
}