Design of a parallel robot with optimized workspace shape for fast and flexible pick-and-place operation

摘要：

　　High-performance parallel robots are required for fast and flexible pick-and-place operations in the food and packaging industry.In this paper,a design of parallel robot of the Sch(o)nflies motion is proposed with an aim to generate a workspace of desired shape,namely,a nearly superellipsoidal workspace,which is close to the applicable work volume and suited best for pick-and-place operations.The kinematics of the robot is developed,with the workspace being analyzed and optimized.A novel compound platform is also presented,which improves the performance of the robot by implementation of full rotations of the end effector.

关键词： Pick-and-place robots Sch(o)nflies motion generator parallel manipulators design optimization food robotics

作者: Shaoping Bai Guanglei Wu Preben Hjφrnet

作者单位: Department of Mechanical and Manufacturing Engineering Aalborg University,Denmark Blue Workforce A/S,Denmark

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-6

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）