Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations
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 1050-0472Full text not available from this repository.
Official URL: http://dx.doi.org/10.1115/1.1711822
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|
|Number of Pages:||7|
|Page Range:||pp. 449-455|
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