Time minimum trajectory planning of a 2-DOF translational parallel robot for pick-and-place operations
Huang, T., 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. ISSN 0007-8506Full text not available from this repository.
Official URL: http://dx.doi.org/10.1016/j.cirp.2007.05.085
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|
T Technology > TS Manufactures
|Divisions:||Faculty of Science > Engineering|
|Journal or Publication Title:||CIRP Annals - Manufacturing Technology|
|Number of Pages:||4|
|Page Range:||pp. 365-368|
|Access rights to Published version:||Restricted or Subscription Access|
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