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

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