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Time minimum trajectory planning of a 2-DOF translational parallel robot for pick-and-place operations
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Huang, Tian, Wang, P. F., Mei, J. P., Zhao, X. M. and Chetwynd, D. G. (2007) Time minimum trajectory planning of a 2-DOF translational parallel robot for pick-and-place operations. CIRP Annals - Manufacturing Technology, Volume 56 (Number 1). pp. 365-368. doi:10.1016/j.cirp.2007.05.085 ISSN 0007-8506.
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Official URL: http://dx.doi.org/10.1016/j.cirp.2007.05.085
Abstract
This paper deals with the time-minimum trajectory planning of a 2-DOF translational parallel robot named the Diamond for rapid pick-and-place operations. Kinematics and dynamics of the robot are formulated using a parametric function, allowing the representation of the input torque and velocity constraints to be converted to those in terms of the path length. A modified algorithm for achieving the minimized traversal time is proposed by taking into account the path jerk limit. Lithium-ion battery sorting using the Diamond robot is taken as an example to demonstrate the applicability of this approach.
Item Type: | Journal Article | ||||
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Subjects: | T Technology T Technology > TS Manufactures |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||
Journal or Publication Title: | CIRP Annals - Manufacturing Technology | ||||
Publisher: | Elsevier BV | ||||
ISSN: | 0007-8506 | ||||
Official Date: | 2007 | ||||
Dates: |
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Volume: | Volume 56 | ||||
Number: | Number 1 | ||||
Number of Pages: | 4 | ||||
Page Range: | pp. 365-368 | ||||
DOI: | 10.1016/j.cirp.2007.05.085 | ||||
Status: | Peer Reviewed | ||||
Publication Status: | Published | ||||
Access rights to Published version: | Restricted or Subscription Access |
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