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In recent decades, significant progress has been made in the field of robot technology. Presently, robots find widespread applications across various sectors, ranging from manufacturing to everyday life. The design of novel robotic structures that conform to practical requirements stands as a critical endeavor. This study introduces a technique for identifying the inverse chains of closed planar kinematic chains comprising 8 links and 10 joints through the utilization of the Link-joint-loop table, thereby aiding in the innovation of new robot designs. The study establishes four guidelines for determining the parameters of the Link-joint-loop table. Based on these principles, the research categorizes the links into clusters with similar attributes. Consequently, starting from the initial 3 robot structures, 9 inversion chain robots have been developed. The outcomes of this investigation have contributed to the enhancement of closed planar kinematic chain robots, catering to the demands of automated production.

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Building Inversions for 8-Link 10-Joint Chain Robot Structures Based on Link-Joint-Loop Table

  • 会议论文

  • 发表日期：

    2026年

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  • Dinh-Hieu Phan,
  • Van-Quyet Nguyen,
  • Thanh-Lam Bui,
  • Vu-Hai Luu,
  • Duc-Minh Nguyen,
  • Ngoc-Tien Tran

摘要

In recent decades, significant progress has been made in the field of robot technology. Presently, robots find widespread applications across various sectors, ranging from manufacturing to everyday life. The design of novel robotic structures that conform to practical requirements stands as a critical endeavor. This study introduces a technique for identifying the inverse chains of closed planar kinematic chains comprising 8 links and 10 joints through the utilization of the Link-joint-loop table, thereby aiding in the innovation of new robot designs. The study establishes four guidelines for determining the parameters of the Link-joint-loop table. Based on these principles, the research categorizes the links into clusters with similar attributes. Consequently, starting from the initial 3 robot structures, 9 inversion chain robots have been developed. The outcomes of this investigation have contributed to the enhancement of closed planar kinematic chain robots, catering to the demands of automated production.