الفهرس | Only 14 pages are availabe for public view |
Abstract The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. So, the researcher turned to combine both mechanisms by sharing the advantage from serial to parallel or vice versa. This thesis proposes a new configuration design for a serial-parallel hybrid manipulator installed on it an adaptive gripper to help the new hybrid manipulator to grasp objects with different sizes or dimensions. The hybrid manipulator is composed of an industrial robotic arm KUKA KR6 R900 with sixdegree-of-freedom (6-DOF) which is divided into three joints for translation (𝑥, 𝑦, 𝑧) and the other three joints for orientation (𝛼, 𝛽 , 𝛾) of end-effector and a parallel manipulator mechanism consists of 3-DOF. That parallel mechanism consists of three identical limbs and each limb is composed of revolute-revolutespherical joints (3-RRS), which can provide one translation movement in the 𝑧-axis and two movements for orientations in the 𝑥 and 𝑦 axis. This new hybrid will help the serial manipulator increase movement flexibility and expand the workspace for serial and parallel manipulator robots. A complete conceptual design for the new robot configuration was proposed. Then, a comparison between the mathematical outcomes and the corresponding simulation of different postures of the hybrid manipulator was discussed. Also, a simulation model is obtained with a complete workspace analysis. Furthermore, the path selection is tested for the new hybrid manipulator, and an experimental setup is prepared to follow the selected path. Moreover, an adaptive gripper is designed and implemented to attach to the new hybrid manipulator as an end-effector. The results show that the maximum induced error between the numerical and simulation models was less than 1%. Finally, the newly presented robot configuration expanded the workspace of both manipulators, and the selected path successfully matched with the experimental test. At the same time, the adaptive gripper, after testing, shows that it can successfully grasp many objects of various shapes and sizes. Also, it can grasp gently without harming or damaging the object. |