A STUDY ON THE DESIGN OF A NOVEL CLOSED-CHAIN ROBOT USING THE THEORY OF FINITE SYMMETRY GROUPS

Abstract

The field of robotics has been a remarkable human invention in the past
century. With advancements in science and technology, industries worldwide are
striving to enhance and produce cutting-edge robot designs capable of operating
at high frequencies, while optimizing cost and efficiency to replace human labor
across various domains. This article proposes a novel robot structure based on the
theory of finite symmetry groups, aiming to systematically and comprehensively
enumerate all closed planar kinematic chains with n links and F degrees of
freedom. Initially, a configuration with one degree of freedom and eight links is
selected. Then, the study proceeds to establish a set of link parameters by
considering the maximum number of links, binary link properties, and the
combination of odd numbers of links within the closed kinematic chain. The
outcomes demonstrate the development of 16 new robot structures that
successfully fulfill the criteria of being both planar and closed chains. These
research findings hold practical significance in the realm of designing innovative
robot structures that meet production demands, while simultaneously facilitating
automation and enhancing overall production efficiency.