UNSPECIFIED. (2004) Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations. JOURNAL OF MECHANICAL DESIGN, 126 (3). pp. 449-455. ISSN 1050-0472

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Abstract

This paper deals with the conceptual design and optimal dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations. In a conceptual design phase, the conditions for generating such kinds of parallel robots are investigated, leading to the invention of a 2-D version of the Delta robot. Combining this robot with a I-DOF feed mechanism, a hybrid robot can be created which is particularly suitable for transporting objects at very high speed in a plane plus a relatively slow or step-by-step, yet long distance motion, normal to the plane. The kinematic optimality of the 2-DOF translational parallel robot is achieved by minimizing a global and comprehensive conditioning index subject to a set of appropriate constraints. The application of this robot to the development of a device for quality inspection of rechargeable batteries is used to demonstrate its applicability.

Item Type:	Journal Article
Subjects:	T Technology > TJ Mechanical engineering and machinery
Journal or Publication Title:	JOURNAL OF MECHANICAL DESIGN
Publisher:	ASME-AMER SOC MECHANICAL ENG
ISSN:	1050-0472
Date:	May 2004
Volume:	126
Number:	3
Number of Pages:	7
Page Range:	pp. 449-455
Identification Number:	10.1115/1.1711822
Publication Status:	Published
URI:	http://wrap.warwick.ac.uk/id/eprint/8250

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