An approach for faster trajectory planning of pick-and-place parallel robots using velocity capability

2019 ◽  
pp. 2549-2558
Author(s):  
Leonardo Mejia ◽  
Daniel Ponce ◽  
Henrique Simas ◽  
Daniel Martins
Keyword(s):  
Trajectory Planning ◽  
Parallel Robots ◽  
Pick And Place

Time Minimum Trajectory Planning of a 2-DOF Translational Parallel Robot for Pick-and-place Operations

CIRP Annals ◽  
2007 ◽  
Vol 56 (1) ◽  
pp. 365-368 ◽  
Author(s):  
T. Huang ◽  
P.F. Wang ◽  
J.P. Mei ◽  
X.M. Zhao ◽  
D.G. Chetwynd
Keyword(s):  
Trajectory Planning ◽  
Parallel Robot ◽  
Pick And Place

Dynamic Point-to-Point Trajectory Planning Beyond the Static Workspace for Six-DOF Cable-Suspended Parallel Robots

2018 ◽  
Vol 34 (3) ◽  
pp. 781-793 ◽  
Author(s):  
Xiaoling Jiang ◽  
Eric Barnett ◽  
Clement Gosselin
Keyword(s):  
Trajectory Planning ◽  
Parallel Robots ◽  
Six Dof ◽  
Point To Point

Kinematics and Stiffness Modeling of a 4-DOF Parallel Robot for Schönflies Motion Generation

2014 ◽  
Author(s):  
Shaoping Bai ◽  
Lasse Køgs Andersen ◽  
Carsten Rebbe Mølgaard
Keyword(s):  
Dynamic Performance ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Motion Generation ◽  
Stiffness Modeling ◽  
Pick And Place ◽  
Fea Simulation ◽  
Schönflies Motion ◽  
Pick And Place Operation ◽  
Good Agreement

This work deals with the design of parallel robots for the generation of pick-and-place operation, or Schönflies motion. The aim is to develop a robot with workspace optimized for fast pick-and-place operations, namely, a robot with a superellipsoidal reachable volume, which suits best for the pick-and-place operations on conveyers, where robots’ working areas are nearly rectangular. In this paper, the kinematics and stiffness modeling of the new robot are presented. A method of stiffness modeling by means of Castigliano’s Theorem is developed. Using the new method, the stiffness of the robot is analyzed. The results are compared with FEA simulation, which shows a good agreement between the results. The method is finally applied to the engineering design of the new robot for enhanced static and dynamic performance.

scholarly journals Design and Analysis of a Novel Schönflies Motion Parallel Robot with Full Cycle Rotation

2021 ◽  
Author(s):  
Luquan Li ◽  
Yuefa Fang ◽  
Lin Wang ◽  
Jiaqiang Yao
Keyword(s):  
Complex Dynamics ◽  
Virtual Work ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Parallel Robots ◽  
The Novel ◽  
Scara Robot ◽  
Pick And Place ◽  
Place Task ◽  
Schönflies Motion

Abstract Due to the complex structures of multi-limbed parallel robots, conventional parallel robots generally have limited workspace, complex kinematics, and complex dynamics, which increases the application difficulty of parallel robot in industrial engineering. To solve the above problems, this paper proposes a single-loop Schönflies motion parallel robot with full cycle rotation, the robot can generate Schönflies motion by the most simplified structure. The novel Schönflies motion parallel robot is a two-limb parallel mechanism with least links and joints, and each limb is driven by a 2-degree of freedom (DOF) cylindrical driver (C-driver). The full cycle rotation of the output link is achieved by “…R-H…” structure, where the revolute (R) and helical (H) joints are coaxial. Mobility, kinematics, workspace and singularity analysis of novel Schönflies motion parallel robot are analyzed. Then, dynamic model is formulated based on the principle of virtual work. Moreover, a pick-and-place task is implemented by proposed Schönflies motion parallel robot and a serial SCARA robot, respectively. The simulation results verify the correctness of the theoretical model. Furthermore, dynamics performances of Schönflies motion parallel robot and serial SCARA robot are compared, which reveal the performance merits of proposed Schönflies motion parallel robot.

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