Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1679350 | CIRP Annals - Manufacturing Technology | 2014 | 4 Pages |
Abstract
This paper draws on robotic mechanisms theory and elastic dynamics to propose a new methodology for the integrated design of a 4-DOF SCARA pick-and-place parallel robot. The design process, which is readily applied to other designs, is implemented by four interactive steps: (1) conceptual design and mechanical realization of the light-weight yet rigid articulated travelling plate; (2) dimensional synthesis by minimizing the maximum driving toque of a single actuated joint; (3) structural parameter design for achieving good elastic dynamic behaviours; and (4) motor sizing necessary to generate the specified cycle time. Based upon the proposed process a virtual prototype is designed for achieving a cycle time for up to 150 picks/min.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Y.H. Li, Y. Ma, S.T. Liu, Z.J. Luo, J.P. Mei, T. Huang, D.G. Chetwynd,