Kinematic Design and Trajectory Planning of a 5-DOF Hybrid Robot for Intersection Curve Cutting

P. Wang, H. Liu, J. Mei, X. Zhao, Y. Song, and T. Huang (PRC)


Robot design, imensional synthesis, rajectory planningD T


This paper presents a 5-DOF hybrid robot named TriVariant-B which is somewhat similar to the well-known Tricept robot with the merit of a relatively large workspace/limb-stroke ratio. A package of key issues associated with conceptual design, dimensional synthesis and trajectory planning in the design and development of this robot are investigated. A prototype developed for flame cutting of intersection curves of steel pipes is taken as an example to demonstrate its applicability.

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