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Finger Mechanisms for Robotic Hands Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Design Analysis and Dynamic Modeling of a High-Speed 3T1R Pick-and-Place Parallel Robot

Authors : Guanglei Wu, Shaoping Bai, Preben Hjørnet

Published in: Recent Advances in Mechanism Design for Robotics

Publisher: Springer International Publishing

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Abstract

This paper introduces a four degree-of-freedom parallel robot producing three translation and one rotation (Schönflies motion). This robot can generate a rectangular workspace that is close to the applicable work envelope and suitable for pick-and-place operations. The kinematics of the robot is studied to analyze the workspace and the isocontours of the local dexterity over the representative regular workspace are visualized. The simplified dynamics is modeled and compared with Adams model to show its effectiveness.

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Literature
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Cammarata, A., et al.: The dynamics of parallel schönflies motion generators: the case of a two-limb system, Proceedings of the IMechE, Part I: J. Syst. Control Eng. 223(11):29–52 (2009)
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Harada, T., et al.: Kinematics and singularity analysis of a CRRHHRRC parallel Schönflies motion generator. CSME Trans. 38(2), 173–183 (2014)
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Bai, S., et al.: Design of a parallel robot with optimized workspace shape for fast and flexible pick-and-place operation. In: Third IFToMM Asian-MMS. Tianjin, China (2014)
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Bai, S., et al.: Stiffness modeling of a 4-dof parallel robot for Schönflies motion generation. In: ASME ESDA 2014. Copenhagen, Denmark, ESDA2014-20094 (2014)
Metadata
Title
Design Analysis and Dynamic Modeling of a High-Speed 3T1R Pick-and-Place Parallel Robot
Authors
Guanglei Wu
Shaoping Bai
Preben Hjørnet
Copyright Year
2015
Book
Recent Advances in Mechanism Design for Robotics

Print ISBN: 978-3-319-18125-7

Electronic ISBN: 978-3-319-18126-4

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-18126-4_27

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