NOVEL 4-DOF SCARA PARALLEL ROBOT WITH CYLINDRICAL WORKSPACE

被引：0
|
作者：
Stepanenko, Oleksandr [1 ]
Bonev, Ilian A. [1 ]
机构：
[1] Ecole Technol Super, Montreal, PQ, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5A | 2018年
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, we present a novel 4-DOF SCARA parallel robot. The 2-DOF portion of the novel robot has been proposed before and consists of an end-effector connected to the base through two legs of type RRR and one passive constraining leg of type RP, where all the base-mounted revolute joints are coaxial. Contrary to SCARA robots based on the four-bar mechanism (RRRRR), the novel robot has a fully cylindrical workspace with no voids or parallel singularities in it. The novel robot has essentially the same workspace as that of a similarly sized ceiling-mounted SCARA serial robot (RR) with links of equal length. However, the proposed robot has the advantage of having all motors mounted on the base. We present the 2-DOF portion of the robot, its kinematic analysis, and its optimal design, and finally propose a mechanism design for the 4-DOF SCARA parallel robot.
引用
收藏
页数：7
相关论文
共 50 条
  • [21] Singularity Analysis of a Novel 4-DOF Surgical Robot
    Khalifa, Alaa
    Fanni, Mohamed
    Mohamed, Abdelfatah M.
    2016 3RD INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE), 2016, : 1126 - 1130
  • [22] Optimization Design of a Novel 4-DOF Parallel Manipulator
    Xu, Tianrui
    Wu, Jun
    Zhang, Binbin
    2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 963 - 968
  • [23] Dexterity Analysis of A Novel 4-DOF Parallel Mechanism
    San, HongJun
    Zhong, ShiSheng
    Wang, ZhiXing
    2011 INTERNATIONAL CONFERENCE ON FUTURE COMPUTER SCIENCE AND APPLICATION (FCSA 2011), VOL 4, 2011, : 116 - 119
  • [24] A 4-DoF Parallel Robot With a Built-in Gripper for Waste Sorting
    Leveziel, Maxence
    Laurent, Guillaume J.
    Haouas, Wissem
    Gauthier, Michael
    Dahmouche, Redwan
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (04) : 9834 - 9841
  • [25] Inverse dynamic analysis of a 4-DOF parallel robot H4
    Choi, H.-B. (ojhee@space.mech.tohoku.ac.jp), 2004, Institute of Electrical and Electronics Engineers, IEEE; Robotics Society of Japan, RSJ (Institute of Electrical and Electronics Engineers Inc.):
  • [26] Nonlinear optimal control for a 4-DOF SCARA robotic manipulator
    Rigatos, G.
    Abbaszadeh, M.
    Busawon, K.
    Pomares, J.
    ROBOTICA, 2023, 41 (08) : 2397 - 2450
  • [27] Nonlinear Optimal Control for a 4-DOF SCARA Robotic Manipulator
    Rigatos, G.
    Abbaszadeh, M.
    Cuccurullo, G.
    Busawon, K.
    Pomares, J.
    INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2022, ICNAAM-2022, 2024, 3094
  • [28] Optimization of workspace of a 2 DOF parallel robot
    Sergiu, Stan
    Maties, Vistrian
    Balan, Radu
    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 165 - +
  • [29] Design of the 4-DOF Parallel Robot Control System Based on EtherCAT
    Kang, Cunfeng
    Zheng, Yukun
    PROCEEDINGS OF THE INTERNATIONAL SYMPOSIUM ON MECHANICAL ENGINEERING AND MATERIAL SCIENCE, 2016, 93 : 353 - 358
  • [30] Design of a Novel 4-DOF Kinematotropic Hybrid Parallel Manipulator
    Zeng, Qiang
    Fang, Yuefa
    Ehmann, Kornel F.
    JOURNAL OF MECHANICAL DESIGN, 2011, 133 (12)
12345