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Design, Fabrication, and Performance Analysis of 2 (DoF) Model Gantry Hybrid Robot (Electric/Pneumatic) for Metallurgical Works

Author

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  • Awad Eisa G. Mohamed

    (Omdurman Islamic University, Sudan)

  • Abuobeida Mohammed Elhassan

    (Al-Neelain University, Sudan)

Abstract

This paper presents the design, fabrication and analysis of two degrees of freedom (2DOF) model gantry hybrid robots. The hybrid robotmechanism, comprising a series and parallel component, provides a vast range of workspace and accuracy. Pneumatic actuators are extensively utilized in industrial settings due to their low cost, compact size, high power-to-weight ratio, and reliability. However, the nonlinear dynamic characteristics of air compressibility and friction effects limit the precision of pneumatic actuators, reducing their time response and positional accuracy. Hybrid robots have various applications, including human-system interaction, medical robots, rehabilitation, and exoskeletons, among others. These applications necessitate robust precision and dynamic workspace computation as the two primary requirements.

Suggested Citation

  • Awad Eisa G. Mohamed & Abuobeida Mohammed Elhassan, 2023. "Design, Fabrication, and Performance Analysis of 2 (DoF) Model Gantry Hybrid Robot (Electric/Pneumatic) for Metallurgical Works," European Journal of Electrical Engineering and Computer Science, European Open Science, vol. 7(4), pages 46-51, July.
    • Handle: RePEc:epw:ejece0:v:7:y:2023:i:4:id:19523
    DOI: 10.24018/ejece.2023.7.4.523
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