Two DOF Parallel Robot Design and Dynamics Simulation for Quick Picking

摘要:

文章预览

This paper presents a new design approach of parallel robot for quick grasp based on parallelogram mechanism,and derives the dynamics model. Using SimMechanics toolbox and simlink toolbox in Matlab Software, and guiding the three dimensional solid model into it, the dynamics simulation and control on two DOF parallel robot is designed and studied. The experimental results show that the design mechanism obtains the anticipated requirement.

信息:

期刊:

编辑:

Wei Deng and Qi Luo

页数:

448-453

引用:

D. X. Bi et al., "Two DOF Parallel Robot Design and Dynamics Simulation for Quick Picking", Applied Mechanics and Materials, Vols. 236-237, pp. 448-453, 2012

上线时间:

November 2012

输出:

价格:

$38.00

[1] Yang BinJiu, etc. Research status of less dof parallel robot [J]. Machine tool and hydraulic pressure.

[2] SternheimF., Tridimensional computer simulation of a parallel robot, Results for the Delta4 machine, In 18th Int. Symp, On Industrial Robot, Lausanne, 1988, 333-340.

[3] Hunt K H., Structual Kinematics of In-Parallel-Acuatef Robot-Arms., ASME J. Mechanism, Transmission, and Automation in Design, 1983, 105(4) : 705-712.

[4] Peter V. and Clavel R., Kinematic calibration of the parallel Delta robot, Robotica, 1988(16): 207-218.

DOI: https://doi.org/10.1017/s0263574798000538

[5] Kong ShuPing. The key technology research of the high speed and light parallel manipulator [D]. Tianjin: tianjin university, 2005: 2-3.

[6] Xin JunLiu, QI-Ming Wang. Kinematics, dynamics and dimensional synthesis of a novel 2-dof translational manipulator [J]. Journal of Intelligent and Robotic Systems,2004,41:205-224.

[7] J. Y. Kim. Task based kinematic design of a two-dof manipulator with a parallelogram five-bar link mechanism [J]. Mechatronics,2006,16: 323-329.

DOI: https://doi.org/10.1016/j.mechatronics.2006.01.004

[8] J. J. Cervantes-Sanchez,J. G. Rendon-Sanchez. Simplified approach for obtaining the workspace of a class of 2-dof planar parallel manipulators[J]. Mechanism and MachineTheory,1999,34:1057-1073.

DOI: https://doi.org/10.1016/s0094-114x(98)00077-9

[9] Atia, KR,Cartmell. M.P. A general dynamic model for a large-scale 2-DOFplanarparallel manipulator[J]. Robotic, Cambridge University Press,1999,17:675-683.

[10] huang tian, li Meng, li zhan Yin, etc. Two degrees planar parallel robot's mechanism [P]. China's patent: 02822735. 2, The 2002-12-30.

[11] Cao Ge, MATLAB tutorial and practice [M]. Beijing: mechanical industry press, 2008: 0.

[12] Liu BaiYan, Chen XinYuan, Fu LianDong. Mechanical and electrical system dynamic simulation [M]-based on MATLAB/Simulink. Beijing: machine Gave industry press. 2011: 1-4.

[13] Yang Liang. Based on virtual prototype technology of parallel robot simulation modeling and control [D]. Tianjin: Tianjin University of science and technology, (2012).

[14] Fan JianPing. In the process of spindle acceleration shuttle by polynomial function curve motion study [J]. Cotton manufacturing technology, 1984, (9) : -56.

[15] Zhou ShuangLin. Plane closed chain five-bar mechanism research of flexible work space [J]. Journal of mechanical engineering, 2000, 4 (11): 98-99.

从Crossref获取数据。
这可能需要一些时间来加载。