A Novel High Speed 2-DOF Translational Parallel Robot for Pick-and-Place Operations .pdf

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1、201OInternationalConferenceonComputer,Mechatronics,ControlandElectronicEngineering(CMCE)ANovelHighSpeed2-DOFTranslationalParallelRobotforPick-and-PlaceOperationsBinbinPengZengmingLi,LiangbinZeng,YuSunSchoolofMechanicalEngineeringSchoolofMechanicalEngineeringNanjingUniversityofScienc

2、eandTechnologyNanjingUniversityofScienceandTechnologyNanjing,P.R.ofChinaNanjing,P.R.ofChinapbb2001cn@yahoo.com.cnAbstract-AnovelhighspeedtwoDOF(degreeoffreedom)characteristics.Firstly,eachkinematicschainconnectingparalleltranslatingrobotforpick-and-placeoperationsisthetravelingplate

3、totheactuatorsconsistsofarotatingpresentedinthispaper.Firstly.anewpassivemechanismarmandaforearm.Secondly,theactuatorsarefixedtothewhichcantranslatefreelyalongacircularpathispresentedbasetherebyminimizingthemassofthemobilepartsofbasedonthesingularityconfigurationofthe3-UPUtherobotwh

4、ichisafundamentalpropertyforhighspeed(universal-prismatic-universal)parallelmanipulator.Andapplications.Thirdly,theforearmlinkingthetravelingthenoveltwodegreeoffreedomparalleltranslatingrobotplateandtherotatingarmiscomposedofsomelightweightwhoseorientationcanremainconstantisputforwa

5、rdbytherodsofequallengthwhich,togetherwithballjoints,formnewpassivemechanism.Thenthekinematicsofthetwoa(spatial)parallelogram.Becauseaparallelogramallowsdegreeoffreedomparalleltranslatingrobotisstudied.anoutputlinktoremainatafixedorientation,itisusedforClosedformsolutionsaredevelope

6、dfortheinverseconfmingthemovingplatformtoafixedorientation.kinematics.TheJacobinmatrixofthetwodegreeoffreedomInthispaperanovelhighspeedtwodegreeoffreedomparalleltranslatingrobotisalsoderived.Finally.theplanartranslatingparallelmanipulatorforpick-and-placeapplicationofthisrobottothed

7、evelopmentofadevicefortransportingworkpiecesatveryhighspeedinaplaneoperationsispresented.Theparallelmanipulatoradoptstogetherwitharelativelysloworstep-by-steplongdistancespecialcompoundstructuretoconfmethemovingplatformmotioninthedirectionnormaltothatplaneisusedtotoafixedorientation

8、.Themanipulatorhasb