Е-Публикации
Технически университет - София

Abstract: In the present work, a classification of parallel kinematics robots has been developed. Classification of robots can be done according to many different criteria. The developed classification takes into account the influence of the robot's kinematics and construction on the degrees of freedom of the End-effector. The position and orientation of the End-effector of robots in space can be defined by the coordinates of a given point and the angles that determine its orientation. The classification of robots with parallel kinematics has been made according to three criteria related to the degrees of freedom of the End-effector, kinematic structure and design features of robots. Different existing parallel kinematics robots were examined. Based on robots’ construction, their belonging to the proposed classification groups was determined. Possible applications of the developed classification are indicated.

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