Performance Analysis of a High-Speed Redundant Robot

摘要

The paper analyses the potential dynamic performance of a novel redundant SCARA robot, developed at the stage of functional design, with respect to the conventional model of the same manufacturer. It is shown that the introduction of a further revolute joint leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. The static and dynamic manipulability of both the conventional and the redundant robot are investigated and typical pick and place tasks are simulated to compare the arising cycle times.