The Library
Integrated design of a 4-DOF high-speed pick-and-place parallel robot
Tools
Tools
Tools
Li, Y. H., Ma, Y., Liu, S. T., Luo, Z. J., Mei, J. P., Huang, Tian and Chetwynd, D. G. (2014) Integrated design of a 4-DOF high-speed pick-and-place parallel robot. CIRP Annals - Manufacturing Technology, Volume 63 (Number 1). pp. 185-188. doi:10.1016/j.cirp.2014.03.101 ISSN 0007-8506.
|
PDF
WRAP_9974528-es-1_30316-integrated_design_of_a_4-dof_high-speed_pick-and-place_parallel_robot-cirp-2014 (1).pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (1321Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.cirp.2014.03.101
Abstract
This paper draws on robotic mechanisms theory and elastic dynamics to propose a new methodology for the integrated design of a 4-DOF SCARA pick-and-place parallel robot. The design process, which is readily applied to other designs, is implemented by four interactive steps: (1) conceptual design and mechanical realization of the light-weight yet rigid articulated travelling plate; (2) dimensional synthesis by minimizing the maximum driving toque of a single actuated joint; (3) structural parameter design for achieving good elastic dynamic behaviours; and (4) motor sizing necessary to generate the specified cycle time. Based upon the proposed process a virtual prototype is designed for achieving a cycle time for up to 150 picks/min.
| Item Type: | Journal Article | ||||||
|---|---|---|---|---|---|---|---|
| Subjects: | T Technology > T Technology (General) | ||||||
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||
| Library of Congress Subject Headings (LCSH): | Robots -- Kinematics -- Research, Computer-aided design, Robotics | ||||||
| Journal or Publication Title: | CIRP Annals - Manufacturing Technology | ||||||
| Publisher: | Elsevier BV | ||||||
| ISSN: | 0007-8506 | ||||||
| Official Date: | 2014 | ||||||
| Dates: |
|
||||||
| Volume: | Volume 63 | ||||||
| Number: | Number 1 | ||||||
| Page Range: | pp. 185-188 | ||||||
| DOI: | 10.1016/j.cirp.2014.03.101 | ||||||
| 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), Guójiā gāo jìshù yánjiū fāzhǎn jìhuà (China) [National High Technology Research Development Program] (NHTRDP) | ||||||
| Grant number: | 51135008 (NFSC), 2013AA040501 (NHTRDP) |
Request changes or add full text files to a record
Repository staff actions (login required)
 |
View Item |
Downloads
Downloads per month over past year
