DocumentCode :
3220074
Title :
T2: A novel two Degree-of-Freedom translational parallel robot for pick-and-place operation
Author :
Li, Zhibin ; Lou, Yunjiang ; Li, Zexiang ; Yang, Guilin ; Gao, Jian
Author_Institution :
Div. of Control & Mechatron. Eng., Harbin Inst. of Technol., Harbin, China
fYear :
2010
fDate :
9-11 June 2010
Firstpage :
725
Lastpage :
730
Abstract :
This paper deals with the conceptual design and kinematic analysis of a novel 2-DOF translational parallel robot for pick-and-place operations named as T2. The proposed architecture is composed of two actuated kinematic chains in the vertical plane and a passive chains in the transversal plane to make the orientation of the moving platform unchangeable. It not only has high speed and high acceleration, but also has a simple and symmetrical mechanism, and will be easier to control and cheaper than the existing 2-DOF robot. In this paper, the loop-closure equations of the robot is derived. the inverse kinematics, forward kinematics, singularity, and workspace analysis are presented.
Keywords :
chains; manipulator kinematics; actuated kinematic chains; forward kinematics; inverse kinematics; parallel manipulators; passive chains; pick and place operation; two degree of freedom translational parallel robot; Acceleration; Computer aided manufacturing; Electronics industry; Food industry; Kinematics; Manipulator dynamics; Mechatronics; Parallel robots; Service robots; Telescopes;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location :
Xiamen
ISSN :
1948-3449
Print_ISBN :
978-1-4244-5195-1
Electronic_ISBN :
1948-3449
Type :
conf
DOI :
10.1109/ICCA.2010.5524340
Filename :
5524340
Link To Document :
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