Conceptual Design And Trajectory Planning Of A Incising Center Based On A Hybrid Reconfigurable Robot

This dissertation deals with the reconfiguration of a hybrid robot named"TriVariant". Aiming at the incising of H-girder, the conceptual design of a incisingcenter based on the TriVariant is presented. Focused upon the H-girder incising,trajectory planning is given in detail. The following creative work has beencompleted.The description of the configuration of TriVariant is introduced. Referred to theTricept robot, the TriVariant can be mounted on different frameworks and adoptdifferent end-effectors. Several layouts for different functions are presented. Theconceptual design of a incising center based on the TriVariant is proposed.The inverse kinematic model is formulated, and the workspace is computed, soas to provide a theoretical basis for trajectory planning. Since the inversekinematic position problem has two solutions, one solution is determinedaccording to the need of trajectory continuity.Considering the characteristics of the TriVariant and techniques of incising, themodified sinsidial motion is utilized for trajectory planning, in which theconstant speed motion is also used due to the constraint of the maximumvelocity.The above outcomes have been emulated in the software Solidworks. There is nointerference. The trajectory can satisfy the practicality.