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Industrial Robots for Manipulation with Parallel
Kinematic Machines
Zdeněk Kolíbal
Brno University of Technology, Faculty of Mechanical Engineering, Technicka 2,
616 69 Brno, Czech Republic, e-mail:
Abstract: The presented article analyses structures of kinematic chains in
industrial robots, i.e. their positioning and orientation mechanisms with respect to
positioning of end - effectors within the workspace of parallel kinematic machine
and in its vicinity with the aim to facilitate a selection of appropriate industrial
robot for automatic in – between operational manipulation in the periphery of
such a machine or production systems.
Keywords: Industrial robot, kinematic chain, linkage, arrangement, machining
centre, parallel kinematic
I
INTRODUCTION
adaptation in terms of morphology
(architecture
number of degrees of freedom), in
of kinematic chain,
With development of control systems
and
computer
technology,
the
terms
of purpose (selection of
construction of production machines,
and machining centres in particular,
has witnessed a revival of the so –
called Steward platform positioned in
space as a plane suspended evenly in
three or six points by means of linear
actuators. The same principle forms
the basis of the industrial robot with
this parallel kinematics of its basic
kinematic chain - TRICEPT HP1.
appropriate end effectors, if possible
automatically replaceable) and in
terms of control [3].
If, however, the machining centre is
not
equipped
with
another
manipulation peripheral device, as can
be seen e.g. in Fig. 1, the industrial
robot has to directly encompass the
work space of the serviced machining
centre and a flow of material (semi -
products and work – pieces) is
written in two columns.
One of the advantages of so designed
machining centres is a relative ease of
building them into the running work
units. Here the use of industrial robots
seems to be an appropriate form of in –
between operational manipulations.
However, the selection of robots
cannot be casual; there has to be an all
– sided adaptation of the robot to the
construction and handling possibilities
of parallel kinematic machines, i.e.
accomplished
industrial robot.
directly
by
this
Figure 1a
Machining centre of company INGERSOLL

taken into account for the selection of
industrial robots.
Figure 1b
Machining centre of company Kearney &
Trecker
In the case of periphery from Fig. 1, it
is evident that a pertinent industrial
Figure 2b
Machining centre of company GIDDING &
LEWIS
robot
to
be
used for further
manipulation
is
not
significantly
limited in terms of mainly its
morphology
selection
(kinematic
structure); therefore these cases are not
a subject of the present work.
A completely different is the case
when a direct robotic manipulation is
required for the machining centre with
parallel kinematic, which is designed
in terms of current trends, i.e. the
components and mechanisms of the
Figure 2c
Machining centre of company INGERSOLL
centre
virtually
encompass
its
workspace (see Fig. 2).
II
BASIC AND DERIVED
TYPES OF INDUSTRIAL ROBOTS
As stated in most of the existing
publications, basic types of industrial
robots can be those described in Fig. 3:
Figure 2a
Machining centre of FhI Chemnitz
Current
parallel kinematics (see Fig. 2) can, in
terms
machining
centres
with
Figure 3a
Cartesian type (K) with linkage of kinematic
pairs TTT
of industrial robot direct
serviceability, rank among production
machines
with space – limited
serviceability; therefore this should be

therefore proved theory that sets for n -
degrees of freedom the number of
possible linkages of kinematic pairs T
and
R: m = 2
n
(1)
where n is natural number.
Figure 3b
Cylindrical type (C) with linkage of kinematic
pairs RTT
Figure 4
Scheme of basic kinematic chain of
industrial robots UM-160 and GE-ROBO
For the practical and commonly used
number of degrees of freedom n = 3,
the basic so analysed number of
linkages is extended in total up to
m =23 = 8 groups: TTT, RTT, TRT,
TTR, RRT, RTR, TRR, RRR.
Figure 3c
Spherical type (S) with linkage of kinematic
pairs RRT
This set of linkages has already
encompassed the above - mentioned
structure of robot from Fig. 4; it is
therefore possible to refer to a derived
structure of the basic kinematic chain
of this robot by virtue of its kinematic
pairs.
Each of kinematic pairs,
employed in the basic kinematic chain,
can however be further located in one
of the three different directions given
by the Cartesian system of coordinates
x,y,z as follows:
translation (T) in the direction of
coordinates X,Y,Z,
rotation (R) around these coordinates
A,B,C,
Figure 3d
Anthropomorphous (angular, torus) type (A)
with linkage of kinematic pairs RRR
Further practical use and monitoring of
development revealed the
robots
occurrence of industrial robots with a
structure of kinematic pairs linkage
different from that corresponding to
basic workspaces as e.g. with the
industrial robot "UM-160" or GE-
ROBO; their structure ZKR can be
expressed, as seen in Fig. 4, by a
kinematic pairs linkage TRR. Practice
wherefrom
within the respective
linkages, further possible different
arrangements originate, e.g..Tx,Ty,Tz
in contrast to Tx,Tz,Ty, etc.

The Institute of Production Machines, (basic and derived) and also provides
Systems and Robotics of FME BUT us with premises for building up new
has been paying a long-time attention constructions, e.g. the following
to the study of arrangements of designs of robot configurations to
positioning mechanisms. The use of
service machining centres with parallel
kinematics.
the
so
–
called
combinatorial
algorithms
mathematical
morphological
constructional evaluation enabled us to
assess the arrangements in all eight
linkages and to state that - out of 165
[1],
[2],
expression
analysis
[5],
their
and
with
III
SELECTION AND
DEVELOPMENT OF INDUSTRIAL
ROBOTS SUITABLE TO SERVICE
MACHINING CENTRES WITH
PARALLEL KINEMATICS
theoretically possible arrangements - From configuration structures of basic
47
solutions
constructional
some of the workspaces thus obtain the
so – called ”shell” character. So far 13
arrangements have been used in
practice as can be seen from the
following evaluation:
various
can
non
–
be
isomorphous
types of industrial robots in Fig. 3 it is
evident that the type ”A” in particular
is not suitable to service machining
centres in Fig. 2. Questionable is also
the above - described type ”K”(linkage
used
for
practice.
However,
TTT,
arrangement xszsy), whose
locomotion in the basic direction (x s)
is accomplished on the base that will
undoubtedly form an inconvenient
barrier in front of the machining
centre. The above described types ”K”,
”C” (linkage RTT, arrangement CZX)
and also type ”S” (linkage RRT,
arrangement CAY) seem to be more
convenient for the required servicing
because they have – as an end member
of the basic kinematic chain – a
protruding arm and types ”K” and ”C”
(linkage RTT, arrangement CZX) even
have a horizontal arm that can
appropriately
encompass
the
workspace of the machining centre [4].
The most suitable solution to meet
these requirements is a portal design in
the linkage of type ”K” (TTT) with a
subsequent vertical member in a
sliding shoe design (z) and a horizontal
member (y) at the end of the basic
kinematic chain. This is therefore the
arrangement XYZ but in a modified
form xportalzy (see Fig. 5).
In total 3+4+5+6+6+10+7+6 = 47
arrangements, out of these 8 ”shell”.
A
performed theoretical analysis
enables us to classify various types of
IRaM within a set of possible types

further modified types of industrial
robots. One of the possibilities could
be the use of shell structure with
arrangement CAX (CBY) as seen in
Fig. 6a, which could be convenient for
machining centres with an external
peripheral device
(feeder), or a
suspension
modification
of
type
SCARA
with
arrangement
AAX
(BBY), as seen in Fig. 6b, enabling a
further
member of the basic kinematic chain
sufficiently
long
second
Figure 5a
with single horizontal arm
to
rotate by 180° outside the
machining centre.
Figure 6a
arrangement CAX (CBY)
Figure 5b
with rotary dual arm to accelerate a
manipulation cycle
The locomotion of the horizontal arm
of the industrial robot is however
linked with certain problems related to
its possible further rotation. The
locomotion of end effectors of the
basic kinematic chain, as seen in Fig.
5, is actually performed in front of and
behind the robot base so that a
complete rotation of the machining
centre is in fact impossible. A possible
dual arm (Fig. 5b) can form an angle
of maximum 90°. A more suitable
solution would be if the robot could
drive a little forward from the
machining centre or if it were not
situated in the middle of the machining
centre.
Figure 6b
arrangement AAX (BBY)
Conclusion
The presented selection and proposals
for development of robotic systems to
service machining centres with parallel
kinematics are based on a long – time
research of morphology of mobile
robotic systems and industrial robots,
respecting thus a relatively difficult
For these reasons, on the basis of
morphological analysis, it will be
presumably necessary to develop
access
to
workspace
machining centres. A set of proposed
of
these

types is far from being complete; it [5] Kolíbal, Z.: The theory of basic
rather strives to make a contribution to
the specification of this problem and to
the search for possible solutions.
kinematic chain structures and its
effect on their application in the
design
of
industrial
robot
positioning mechanisms. CERM
Akademické nakladatelství, s.r.o.
Brno, , ISBN 80-7204-196-
7, p. 71
References
[1] Bělohoubek, P., Kolíbal, Z.: The
knowledge from the Research in
the Field of Robotics at UT Brno,
Czech
Republic.
In:
Automazione/Automation 1993,
BIAS, Milano, Italy, November
23-25, 1993, pp. 723-726
[2] Kolíbal,Z.: The Theory of the
Structures of Basic Kinematic
Chains in Industrial Robots and
this Effect on their Practical
Application. In: 8 International
th
Workshop on Robotics in Alpe-
Adria-Danube Region RAAD
1999, Edited by Franz Freyberger
and Günter Schmidt, München,
June 17-19, 1999, Technische
Universität München, Germany,
1999, ISBN 3-00-004482-5, pp.
127-132
[3] Knoflíček,
R.-
Marek,
J.:
Obráběcí centra a průmyslové
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strukturou.
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výroba, ročník 45, 1997, č.1-2,
ISBN 0039-24567, pp. 9-11
[4] Kolíbal, Z.- Bělohoubek, P.: Die
Analyse
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geeigneten
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für die Handhabung bei den
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mit
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