Spatial Kinematic Synthesis of Adaptive Hard-Automation Modules: An RS-SRR-SS Adjustable Spatial Motion Generator

摘要

Purely mechanical, single-actuator adaptive hard-automation modules can perform highly repetitive simple tasks much more economically, energy-efficiently and accurately than multi-degree-of-freedom, multiple-actuator robotic manipulators. As an example, an RS-SRR-SS adjustable spatial motion generator is synthesized by analytical methods with two exact prescribed positions (including orientations) for each of two different motion tasks, by numerical methods to solve a nonlinear system of equations and by optimization techniques to minimize the motion errors at additional, approximately prescribed positions.