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Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints

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Huang, Tian, Liu, Songtao, Mei, Jiangping and Chetwynd, D. G. (2013) Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints. Mechanism and Machine Theory, Volume 70 . pp. 246-253. doi:10.1016/j.mechmachtheory.2013.07.014 ISSN 0094-114X.

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Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2013.07...

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Abstract

This paper presents an approach for the optimal design of a 2-DOF translational pick-and-place parallel robot. By taking account of the normalized inertial and centrifugal/Coriolis torques of a single actuated joint, two global dynamic performance indices are proposed for minimization. The pressure angles within a limb and between two limbs are considered as the kinematic constraints to prevent direct and indirect singularities. These considerations together form a multi-objective optimization problem that can then be solved by the modified goal attainment method. A numerical example is discussed. A number of robots designed by this approach have been integrated into production lines for carton packing in the pharmaceutical industry.

Item Type: Journal Article
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Science, Engineering and Medicine > Engineering > Engineering
Library of Congress Subject Headings (LCSH): Parallel robots, Optimal designs (Statistics), Mechanical engineering
Journal or Publication Title: Mechanism and Machine Theory
Publisher: Pergamon-Elsevier Science Ltd.
ISSN: 0094-114X
Official Date: December 2013
Dates:
DateEvent
December 2013Published
15 August 2013Available
21 July 2013Accepted
Volume: Volume 70
Page Range: pp. 246-253
DOI: 10.1016/j.mechmachtheory.2013.07.014
Status: Peer Reviewed
Publication Status: Published
Access rights to Published version: Restricted or Subscription Access
Date of first compliant deposit: 23 March 2016
Date of first compliant Open Access: 23 March 2016
Funder: Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC)
Grant number: 51135008 (NSFC)

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