CALCULATING A KINEMATIC STABILIZING FIXTURE WITH ROBOT STRUCTURE

Abstract

This article presents the methodology for designing a fixture in the form of a manipulator. It has the kinematic stabilization function for the workpiece when the jack-horse has random movements. The fixture with the robot arm configuration-n generalized degrees of freedom has a head connecting the jack and a head holding the work needed kinematic stabilization. Normally, the stationary jack and the moving object, however, in some cases, when the moving jack changes the position and direction of the object causing certain damage, the fixture mechanism must have the function eliminating these movements of the jack to stabilize the kinematic of the object in order to keep it in the position and (or) the orient unchanged from the original. We rely on the robot kinematic problem based on the GRG method to perform these calculations. The results show that the theoretical calculations are completely accurate. This is the mathematical basis to control robot arms with special functions in the position stabilizing group of the object.