Journal
CIRP ANNALS-MANUFACTURING TECHNOLOGY
Volume 56, Issue 1, Pages 365-368Publisher
ELSEVIER
DOI: 10.1016/j.cirp.2007.05.085
Keywords
parallel robot; motion planning; pick-and-place
Ask authors/readers for more resources
This paper deals with the time-minimum trajectory planning of a 2-DOF translational parallel robot named the Diamond for rapid pick-and-place operations. Kinematics and dynamics of the robot are formulated using a parametric function, allowing the representation of the input torque and velocity constraints to be converted to those in terms of the path length. A modified algorithm for achieving the minimized traversal time is proposed by taking into account the path jerk limit. Lithium-ion battery sorting using the Diamond robot is taken as an example to demonstrate the applicability of this approach.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available