A Novel End Effector of Environmental Exploring Robot with Fully Spherical Workspace

被引：0

作者：

Yu, Shanshan ^{[1
,2
]}

Zhang, Jianjun ^{[1
]}

Li, Weimin ^{[1
]}

机构：

[1] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China

[2] Shandong Univ Technol, Sch Mech Engn, Zibo 255000, Peoples R China

来源：

JOURNAL OF COASTAL RESEARCH | 2020年

关键词：

Environmental exploration; spherical parallel mechanism; fully spherical workspace; DESIGN; OPTIMIZATION;

D O I：

10.2112/JCR-SI105-034.1

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

A large workspace is an important parameter to improve the robot's mobility and flexibility. Based on decoupled 2-degree of freedom spherical parallel mechanism, two novel end effectors of the environmental exploring robot with a fully spherical workspace was presented. Through workspace analysis, the conditions of the end effectors to achieve a fully spherical workspace were determined. Through kinematic analysis, the kinematic equations of the two end effectors were established. After size optimization and performance comparison, the input and output performance of the RR&P5R end effector is better. Then the statics analysis and finite element analysis of the RR&P5R end effector were carried out. The results show that the material selection and structural design are reasonable. This research provides a technical support for complex unknown environment exploration.

引用

页码：159 / 164

页数：6

共 50 条

[1] KINEMATIC ANALYSIS AND WORKSPACE DETERMINATION OF A 6 DOF CKCM ROBOT END-EFFECTOR
NGUYEN, CC
POORAN, FJ
[J]. JOURNAL OF MECHANICAL WORKING TECHNOLOGY, 1989, 20 : 283 - 294
[2] Design, simulation, and experiment for the end effector of a spherical fruit picking robot
Li, Ziyue
Yuan, Xianju
Yang, Zhanpeng
[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2023, 20 (06)
[3] Spherical Parabolic Blends for Robot Workspace Trajectories
Dantam, Neil
Stilman, Mike
[J]. 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 3624 - 3629
[4] A multi-sensory end-effector for spherical fruit harvesting robot
Liu, Jizhan
Li, Pingping
Li, Zhiguo
[J]. 2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6, 2007, : 258 - 262
[5] Exploring the Workspace of a Robot with Three Degrees of Freedom
Nosova, Natalia Yu
Misyurin, Sergey Yu
[J]. BIOLOGICALLY INSPIRED COGNITIVE ARCHITECTURES 2021, 2022, 1032 : 333 - 343
[6] A Self-Calibration Method for Robot End-Effector Using Spherical Constraints
Wang, Xiong
Ren, Wenze
Wang, Kang
Liu, Jun
Lin, Jinsong
Feng, Jiahui
Zheng, Jun
Li, Fei
[J]. Applied Sciences (Switzerland), 2024, 14 (21):
[7] Novel Design and Kinematics Modeling for Delta Robot with Improved End Effector
Yan, Liang
Liu, Delong
Jiao, Zongxia
[J]. 2016 IEEE/CSAA INTERNATIONAL CONFERENCE ON AIRCRAFT UTILITY SYSTEMS (AUS), 2016, : 945 - 948
[8] A Novel End-effector for Tomato Harvesting Robot: Mechanism and Evaluation
Jun, Jongpyo
Seol, Jaehwi
Son, Hyoung Il
[J]. 2020 20TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2020, : 118 - 121
[9] A CABLE-SUSPENDED ROBOT WITH A NOVEL CABLE BASED END EFFECTOR
Saber, Omid
Abyaneh, Soroush
Zohoor, Hassan
[J]. PROCEEDINGS OF THE ASME 10TH BIENNIAL CONFERENCE ON ENGINEERING SYSTEMS DESIGN AND ANALYSIS, 2010, VOL 3, 2010, : 799 - 808
[10] Novel Design and Kinematics Modeling for Delta Robot with Improved End Effector
Yan, Liang
Liu, Delong
Jiao, Zongxia
[J]. PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2016, : 741 - 746

← 1 2 3 4 5 →