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Statements

Subject Item
n2:RIV%2F49777513%3A23520%2F11%3A43898231%21RIV12-MSM-23520___
rdf:type
n5:Vysledek skos:Concept
dcterms: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-arm serial 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 and control. 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-arm serial 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 and control.
dcterms:title
Research and design of modular robotic manipulator for chemical aggressive environment Research and design of modular robotic manipulator for chemical aggressive environment
skos:prefLabel
Research and design of modular robotic manipulator for chemical aggressive environment Research and design of modular robotic manipulator for chemical aggressive environment
skos:notation
RIV/49777513:23520/11:43898231!RIV12-MSM-23520___
n5:predkladatel
n6:orjk%3A23520
n4:aktivita
n7:S n7:P
n4:aktivity
P(FR-TI1/174), S
n4:dodaniDat
n8:2012
n4:domaciTvurceVysledku
n14:1667653 n14:3525244
n4:druhVysledku
n12:D
n4:duvernostUdaju
n18:S
n4:entitaPredkladatele
n23:predkladatel
n4:idSjednocenehoVysledku
226643
n4:idVysledku
RIV/49777513:23520/11:43898231
n4:jazykVysledku
n9:eng
n4:klicovaSlova
parallel spherical wrist; motion planning and control; mechatronics; industrial robotic manipulator; robotics
n4:klicoveSlovo
n11:industrial%20robotic%20manipulator n11:motion%20planning%20and%20control n11:robotics n11:parallel%20spherical%20wrist n11:mechatronics
n4:kontrolniKodProRIV
[835BDDC51B84]
n4:mistoKonaniAkce
Velke Karlovice
n4:mistoVydani
Ostrava
n4:nazevZdroje
Proceedings of 12th International Carpathian Control Conference
n4:obor
n22:JB
n4:pocetDomacichTvurcuVysledku
2
n4:pocetTvurcuVysledku
2
n4:projekt
n19:FR-TI1%2F174
n4:rokUplatneniVysledku
n8:2011
n4:tvurceVysledku
Švejda, Martin Goubej, Martin
n4:typAkce
n17:WRD
n4:zahajeniAkce
2011-05-25+02:00
s:numberOfPages
5
n13:doi
10.1109/CarpathianCC.2011.5945883
n20:hasPublisher
ICCC
n21:isbn
978-1-61284-360-5
n16:organizacniJednotka
23520