Research and design of modular robotic manipulator for chemical aggressive environment

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Research and design of modular robotic manipulator for chemical aggressive environment

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Research and design of modular robotic manipulator for chemical aggressive environment

Popis výsledku anglicky

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

Druh

D - Stať ve sborníku

CEP obor

JB - Senzory, čidla, měření a regulace

OECD FORD obor

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Projekt

<a href="/cs/project/FR-TI1%2F174" target="_blank" >FR-TI1/174: Výzkum a vývoj modulárního robotického manipulátoru pro nasazení v odmašťovacích a odlakovacích linkách</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 12th International Carpathian Control Conference

ISBN

978-1-61284-360-5

ISSN

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e-ISSN

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Počet stran výsledku

5

Strana od-do

378-382

Název nakladatele

ICCC

Místo vydání

Ostrava

Místo konání akce

Velke Karlovice

Datum konání akce

25. 5. 2011

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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