Research and design of modular robotic manipulator for chemical aggressive environment

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F11%3A43898231" target="_blank" >RIV/49777513:23520/11:43898231 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CarpathianCC.2011.5945883" target="_blank" >http://dx.doi.org/10.1109/CarpathianCC.2011.5945883</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2011.5945883" target="_blank" >10.1109/CarpathianCC.2011.5945883</a>

Result language
angličtina
Original language name
Research and design of modular robotic manipulator for chemical aggressive environment
Original language description
This paper deals with research and design of industrial robotic manipulator which is suitable for operation in aggressive environment (high pressure/temperature, acid or lye). The main field of application is a task of operation and manipulation in industrial degreasing and paint removing lines. For this purpose a special three DoF parallel spherical wrist was constructed. This allows a placement of all the vulnerable components of the robot such as drives and electronics outer the end-effector space, which may contain aggressive chemicals. All the positioning of the effector is performed by a system of mechanical transmissions which allow separating it from the rest of the machine by a waterproof barrier. Second part of the robot consists of three-armserial manipulator with three DoF connected to moving support which results in final seven degrees of freedom kinematics. The paper deals with kinematical analysis of the manipulator and presents some basic approaches for motion planning
Czech name
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Czech description
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Project
<a href="/en/project/FR-TI1%2F174" target="_blank" >FR-TI1/174: Research and development of the modular robotic manipulator for grease and paint removing lines</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 12th International Carpathian Control Conference
ISBN
978-1-61284-360-5
ISSN
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e-ISSN
—
Number of pages
5
Pages from-to
378-382
Publisher name
ICCC
Place of publication
Ostrava
Event location
Velke Karlovice
Event date
May 25, 2011
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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