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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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WRAP_9974528-es-130316-optimal_design_of_a_2-dof_pick-and-place_parallel_robot_mmt-2013.pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (1290Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2013.07...
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: |
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| 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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