Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations

被引：189

作者：

Huang, T ^{[1
]}

Li, ZX

Li, M

Chetwynd, DG

Gosselin, CM

机构：

[1] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China

[2] Univ Warwick, Sch Engn, Coventry CV4 7AL, W Midlands, England

[3] Univ Laval, Dept Mech Engn, Quebec City, PQ, Canada

来源：

JOURNAL OF MECHANICAL DESIGN | 2004年 / 126卷 / 03期

关键词：

D O I：

10.1115/1.1711822

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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.

引用

页码：449 / 455

页数：7

共 50 条

[1] Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
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[J]. 2004, 449-455 (May 2004):
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