NDLI: Study on the mechanism and kinematics of a hybrid robot for blowout preventer assembly

Content Provider	IEEE Xplore Digital Library
Author	Jiangbo Qi Luxiao Hao Ronglu Sun Junna Xiao
Copyright Year	2014
Description	Author affiliation: Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China (Luxiao Hao) \|\| Huabei Oilfield Water & Electr. Supply Center, Renqiu, China (Junna Xiao) \|\| Adv. Mechatron. Equip. Technol. Tianjin Area Major Lab., Tianjin Polytech. Univ., Tianjin, China (Jiangbo Qi; Ronglu Sun)
Abstract	A hybrid robot is proposed in this paper, which is used for the automatic assembly of a blowout preventer to prevent the oil blowout. The hybrid robot has three components, which are waist component, parallel mechanism component and wrist component. And the parallel mechanism component is mainly in charge of the transport of the blowout preventer with high speed by actuating the end-effector. The parallel mechanism component is actually a parallelogram structure with special configuration of linkages' length. The parallelogram structure can enhance the load capacity and rigidity of the robot. And it also can enlarge the motion displacement of the end-effector. In order to establish the kinematic model of the hybrid robot by Denabit-Hartenberg (D-H) law, an equivalent mechanism with serial structure is proposed to replace the parallel mechanism based on the analysis of the law of motion of the parallel mechanism. The formulations of the joints' angles of the equivalent mechanism have been presented in this paper. And meanwhile the relationship between the drive capability of the parallel mechanism and the length of the linkage has been demonstrated, which is helpful for the designing and workspace analysis of the robot. The correctness of these analyses has been verified by the simulation of the workspace.
Starting Page	1046
Ending Page	1051
File Size	296942
Page Count	6
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885842
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Joints Kinematics Couplings Assembly Educational institutions Vectors Workspace Assembly of a blowout preventer Hybrid robot Parallelogram structure
Content Type	Text
Resource Type	Article

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