Type Synthesis Method of Unconstrained SRCPR Based on Actual Workspace for Serial Robots.

In the field of industrial serial robots, the main problems existing at present are how to get the overall configuration of the serial robot and how to choose the optimal configuration of the serial robot. Aiming at these problems, this paper discussed the type synthesis problems of serial robots with prismatic pairs (P pairs) and rotational pairs (R pairs), and proposed a type synthesis method of unconstrained SRCPR (the serial robot configuration (SRC) with P pairs and R pairs) based on actual workspace for industrial robots. First, the "structural cell" of the serial robot SRCPR was proposed, and their topological relations were illustrated. Meanwhile, the dimensions of SRC were defined. Then, the relationships between the dimension of actual workspace and the dimension of SRC were founded. Finally, the type synthesis theoretical method of SRCPR was obtained by using the relationships.