IndustrialRobotsforManipulationwithParallelKinematicMachinesZdenekKolibalBrnoUniversityofTechnology,FacultyofMechanicalEngineering,-.nicka2,61669Brno,CzechRepublic,e-mail:.cAbstract:Thepresentedarticleanalysesstructures,ofkinematicchans”industrialrobots,i.e.theirpositioningandorientationimechanismswith，esp、ctopositioningofend-effectorswithintheworkspace,pjPa：allelkinem1icmachineandinitsvicinitywiththeaimtofacilitateasejectjonofappropiaie；，dustrialrobotforautomaticin-betweenoperationalmanipulationint、eperipheryof-suchamachineorproductionsystems.Keywords:Industrialrobot,kinematicchain,linkagea.angemecentre,parallelkinematichiningIINTRODUCTIONWithdevelopmentofcon、-)lsystemsandcomputercnology,theconstructionof-prodctionmach：eandmachining&entresinpar*cularhaswitnesdarevivalohe一called,Stewardplatformposit：nedin,space迭.a-planesuspenddrenlyinPno.thrle%sixpointsbymeansoflineaz-暮actuators.Thesameprinciple,.forms.-the-basisoftheindustrialrobotwith二.rjbothastodirectlyencompassthe-.thisparallelknematicsoii+sbasi-kinematicgn-TRICEThPI.枣-。氏羽弩。血巴切甲罗血山竽writtenintwocolumrsOneOi+headvantagesofsodesignedmac,：ningcentresisarelativeseofbuildingthem:ntotherunningworkunits.Heretheuseofindustrialrobotsseemstobeanappropriateformofinbetweenoperationalmanipulations.However,theselectionofrobotstonin七住of.morphologychain,dom),inelectionofappropriateers,ifpossibleautomaticallyreplaceable)andtermsofcontrol3.If,however,emachiningwithadara一-一一(”chitecture”0fkinmberof-degrees.-termsofpurposeincentreisanotherionperipheraldevice,ascanne.g.inFig.1,theindustrialcentreandaflowofmaterial(semi-productsandworkpieces)isaccomplisheddirectlybythisindustrialrobot.cannotbecasual;therehastobeanallsidedadaptationoftherobottotheconstructionandhandlingpossibilitiesofparallelkinematicmachines,i.e.Figure1aMachiningcentreofcompanyINGERSOLLtakenintoaccountfortheselectionofindustrialrobots.Figure1bMachiningcentreofcompanyKearney&TreckerInthecaseofperipheryfromFig.1,itisevidentthatapertinentindustrialforfurthersignificantlymainlyitsf(kinemati*Figure2b昭辰口说ofcomnyGIDdING&W-，LEWISpanyINGERSOLLdinmostoftheexistingCANDDERIVEDNDUSTRIALROBOTSindmechanisms、f;encompass”eFig.2).Figure3aCartesiantype(K)withlinkageofkinematicrIirIirIipairsTTTrobottobeusedmanipulationisnotlimitedintermsofmorphologyselectionstructure);thereforethesecasesare、：asubjectofthepresentwork.7J、护-AcompletelydifferentisT*ecasewhenadirectroboticmanipulationis斗requiredforthemacKiningcentrewithparallelkinematichichisdesignedintermsofcyrttrends,ifcomponentsandcentreViu、llyworkspaceHFigure2aigcentreofFhIChemnitzitsAiiAspublications,basictypesofindustrialrobotscanbethosedescribedinFig.3:Currentmachiningcentreswithparallelkinematics(seeFig.2)can,intermsofindustrialrobotdirectserviceability,rankamongproductionmachineswithspacelimitedserviceability;thereforethisshouldbeoups：ctthedirectionofthesecoordinateshasalready-mentionedFig.4;itisFigure3cSphericaltype(S)withJin.ogefkinematicpairs-RRThissetof3,rof迪1)Figure4SchemeofbasickinematicchainofindustrialrobotsUM-160andGE-ROBOTT,TRT,R.agesabovefrobotfromssibletorefertoaderivedofthebasickinematicchainrobotbyvirtueofitskinematicrs.Eachofkinematicpairs,/employedinthebasickinematicchain,canhoweverbefurtherlocatedinoneofthethreedifferentdirectionsgivenbytheCartesiansystemofcoordinatesx,y,zasfollows:translation(T)incoordinatesX,Y,Z,rotation(R)aroundA,B,C,wherefromwithinlinkages,furtherpossibledifferentarrangementsoriginate,e.g.Tx,Ty,TzincontrasttoTx,Tz,Ty,etc.therespectiveFigure3bCylindricaltype(C)withlinkageofkinematicpairsRTTFigure3dAtype(A)withlinkageofkinematicz泸practicaluseandmonitoringofdeveopmentrevealedtheccurrenceofindustrialrobotswithastructureofkinematicpairslinkagedifferen.fromthatcorrespondingtobasicworkspacesase.g.withtheindustrialrobotUM-160orGE-ROBO;theirstructureZKRcanbeexpressed,asseeninFig.4,byakinematicpairslinkageTRR.Practicethereforeprovedtheorythatsetsforn-degreesoffreedomthenumberofpossiblelinkagesofkinematicpairsTandR:m=2nwherenisnaturalnumber.Forthepracticalandcommonlynumberofdegreesoffreedomnthebasicsoanalysedlinkagesisextendedinm=23=TTR,RRrTheInstituteofProductionMachines,SystemsandRoboticsofFMEBUThasbeenpayingalong-timeattentiontothestudyofarrangementsofpositioningmechanisms.Theuseofthesocalledcombinatorialtheirandwithalgorithms1,2,mathematicalmorphological,expressionanalysisconstructionalevaluationenabledustoassessthearrangementsinalleightlinkagesandtostatethat-outof165theoreticallypossiblearrangements-47variousnonisomorphoussolutionscanbeusedfor一constructionalpractice.However,isnotsuitabletoservicemachiningsomeoftheworkspacesthusobtaintgcentresinFig.