Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10674647 | CIRP Annals - Manufacturing Technology | 2007 | 4 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
T. Huang, P.F. Wang, J.P. Mei, X.M. Zhao, D.G. Chetwynd,