Above 40g acceleration for pick-and-place with a new 2-dof PKM

Pierrot-Deseilligny, Marc; Baradat, Cédric; Nabat, Vincent; Krut, Sébastien; Gouttefarde, Marc

doi:10.1109/robot.2009.5152193

Cited by 18 publications

(21 citation statements)

References 6 publications

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“…1a) was the subject of several studies [18][19][20][21]. It is a spatial mechanism with two degreeof-freedom which guarantees a good stiffness along the transversal axis.…”

Section: Geometric Descriptionmentioning

confidence: 99%

Some investigations into the optimal dimensional synthesis of parallel robots

Kelaiaia

Zaatri

Chikh³

2015

Int J Adv Manuf Technol

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In this paper, we will perform a comparison between two approaches of dimensional synthesis of parallel robots. The first one concerns the single-objective optimization approach; in this case, the dimensional synthesis is expressed by taking into account only one performance criterion but enables to get a final solution if it exists. The second one concerns the multi-objective optimization approach; it enables to simultaneously take into account several performance criteria. However, thisRidha Kelaiaia approach appears to provide a set of solutions instead of a single expected final solution which should directly enable to carry out the structural synthesis. In fact, the search of a single final solution is postponed to a further step where the designers have to impose and/or restrict certain parameters. And we will establish if it is really necessary to make a multi-objective optimization approach or if a singleobjective is sufficient to reach the objectives set in the specifications (user requirements). A discussion is proposed concerning the arising questions related to each approach and leading to the optimal dimensional synthesis. The PAR2 robot with two degree-of-freedom is used to exemplify the analysis and the comparison of the two approaches. The proposed comparison can be applied to any classes of parallel robots.

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“…1a) was the subject of several studies [18][19][20][21]. It is a spatial mechanism with two degreeof-freedom which guarantees a good stiffness along the transversal axis.…”

Section: Geometric Descriptionmentioning

confidence: 99%

Some investigations into the optimal dimensional synthesis of parallel robots

Kelaiaia

Zaatri

Chikh³

2015

Int J Adv Manuf Technol

View full text Add to dashboard Cite

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“…In order to obtain this trajectory, the Cerebellum Path Generator [12] based on adept cycle is used. It generates the desired cartesian trajectories, which will be the input for the direct geometric model of the robot [13]. This scheme is illustrated in the diagram of figure 2: According to [16], the following errors are introduced:…”

Section: A High-gain Observer Based Control Algorithmmentioning

confidence: 99%

“…The proposed architecture of this robot can guarantee that it can be lighter and stiffer than a classical 2 do f planar mechanism [13]. One other advantage of this parallel robot is that it has the possibility to keep the motors fixed on the base, allowing fast movements to be performed [7].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear dual mode adaptive control of PAR2: a 2-dof planar parallel manipulator, with real-time experiments

Natal

Chemori

Pierrot-Deseilligny

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-andplace scenario with high acceleration (20G). For performance comparisons, a conventional Proportional-Derivative (PD) controller has also been implemented. In this context, the experimental testbed is not equipped with velocity sensors. Therefore, a high-gain observer has been implemented to estimate the articular velocities. Real-time experiments show the performance improvements obtained by the proposed control approach in comparison to the conventional one.

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“…In kinematic analysis, we could get a better design of velocities. And manipulators reach higher accelerations by analyzing their dynamic models [9] [10]. This paper gives a new method to optimize kinematically.…”

Section: Introductionmentioning

confidence: 99%

Optimal kinematic design of a new 3-DOF planar parallel manipulator for pick-and-place applications

Liao

Lou

2012

2012 IEEE International Conference on Mechatronics and Automation

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This paper presents an optimal kinematic design of a new 3-DOF planar parallel manipulator for pick-and-place operations. After reviewing existing architectures of high-speed and high-acceleration parallel manipulators, a new design of 3-DOF parallel manipulator is presented with a co-axis actuated joints arrangement and three subchains in parallel planes. First, the loop-closure equations of the robot are derived. The inverse kinematics and singularity analysis are discussed. After that, the index of the average inverse condition number is used for design. For kinematics, velocities are important for pick-andplace applications. Bounded velocities indices are also used to limit the lengths of the links. Finally, the result of the optimal design has been analyzed. This optimal method can be applied to other manipulators for pick-and-place operations.Index Terms-parallel manipulator, kinematics, optimal design, pick-and-place.

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Above 40g acceleration for pick-and-place with a new 2-dof PKM

Cited by 18 publications

References 6 publications

Some investigations into the optimal dimensional synthesis of parallel robots

Some investigations into the optimal dimensional synthesis of parallel robots

Nonlinear dual mode adaptive control of PAR2: a 2-dof planar parallel manipulator, with real-time experiments

Optimal kinematic design of a new 3-DOF planar parallel manipulator for pick-and-place applications

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