Integrated design of a 4-DOF high-speed pick-and-place parallel robot

被引：28

作者：

Li, Y. H. ^{[1
]}

Ma, Y. ^{[1
]}

Liu, S. T. ^{[1
]}

Luo, Z. J. ^{[1
]}

Mei, J. P. ^{[1
]}

Huang, T. ^{[1
,2
]}

Chetwynd, D. G. ^{[2
]}

机构：

[1] Tianjin Univ, State Educ Minist, Key Lab Mech Theory & Equipment Design, Tianjin 300072, Peoples R China

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

来源：

CIRP ANNALS-MANUFACTURING TECHNOLOGY | 2014年 / 63卷 / 01期

基金：

中国国家自然科学基金; 国家高技术研究发展计划(863计划);

关键词：

Parallel kinematics; Conceptual design; Computer aided design (CAD); TOOL;

D O I：

10.1016/j.cirp.2014.03.101

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper draws on robotic mechanisms theory and elastic dynamics to propose a new methodology for the integrated design of a 4-DOF SCARA pick-and-place parallel robot. The design process, which is readily applied to other designs, is implemented by four interactive steps: (1) conceptual design and mechanical realization of the light-weight yet rigid articulated travelling plate; (2) dimensional synthesis by minimizing the maximum driving toque of a single actuated joint; (3) structural parameter design for achieving good elastic dynamic behaviours; and (4) motor sizing necessary to generate the specified cycle time. Based upon the proposed process a virtual prototype is designed for achieving a cycle time for up to 150 picks/min. (C) 2014 CIRP.

引用

页码：185 / 188

页数：4

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