Development and Testing of a Novel High Speed SCARA Type Manipulator For Robotic Applications
This paper proposes using servo hydraulics for high speed robotic manipulation. It details the development of a novel double vane rotary type actuator custom designed for use in a Selective Compliant Assembly Robotic Arm (SCARA). The system, which is mathematically modeled and simulated, consists of an electro-hydraulic servo valve, double vane rotary actuator, manipulator and a controller. Based on the simulation results, hydraulic actuators were sized for optimal performance. A prototype of the proposed manipulator was built and tested. The test results show that the proposed actuator is capable of reaching torques of up to 860 Nm. The end effector of the manipulator is capable of reaching average velocities in excess of 2.7 ms -1 with a payload capability of 5.3 kg. Comparable performance is not feasible with contemporary SCARA type robots with electric motors.
high speed robotics rotary actuators hydraulic servo systems SCARA manipulator
Migara H. Liyanage Nicholas Krouglicof Raymond Gosine
Faculty of Engineering & Applied Science Memorial University,Newfoundland,Canada
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3236-3242
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）