Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations

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 ver...

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Veröffentlicht in:	Journal of mechanical design (1990) 2004-05, Vol.126 (3), p.449-455
Hauptverfasser:	Huang, Tian, Li, Zhanxian, Li, Meng, Chetwynd, Derek G, Gosselin, Clement M
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Exact sciences and technology Mechanical engineering. Machine design
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container_title	Journal of mechanical design (1990)
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creator	Huang, Tian Li, Zhanxian Li, Meng Chetwynd, Derek G Gosselin, Clement M
description	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 1-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.
doi_str_mv	10.1115/1.1711822
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subjects	Applied sciences Exact sciences and technology Mechanical engineering. Machine design
title	Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations
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