An On-Line Path Planner for Industrial Manipulators

Padula, Fabrizio; Perdereau, Véronique

doi:10.5772/55063

Cited by 54 publications

(39 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Being a simple, common manipulator, he is also a good teaching example, much used in the student courses of mechanics, mechanisms, robotics-mechatronics (Antonescu and Petrescu, 1985;1989;Antonescu et al, 1985a-b;1986;1987;1988;1994;1997;2001;Aversa et al, 2017a-e;2016a-o;Berto et al, 2016a-d;Cao et al, 2013;Dong et al, 2013;Comanescu, 2010;Franklin, 1930;He et al, 2013;Lee, 2013;Lin et al, 2013;Liu et al, 2013;Mirsayar et al, 2017;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu, 2011;2015a-b;Petrescu and Petrescu, 1995a-b;1997a-c;2000a-b;2002a-b;2003;2005a-e;2011;2012a-b;2013a-b;2016a-c;Petrescu et al, 2009;2016;2017a-l).…”

Section: Methodsmentioning

confidence: 99%

Geometry and Determining the Positions of a Plan Transporter Manipulator

Petrescu¹,

Aversa²,

Apicella³

et al. 2017

Journal of Mechatronics and Robotics

View full text Add to dashboard Cite

Abstract:The conveyor mechanism (working in a plan) to be presented in this study is a classic case of manipulating conveyor, simply with a single degree of mobility. It is a very common mechanism used in classical mechanics, being encountered at lifting platforms, at handicapped chairs, at cranes, forklifts, automatic machines and machines, or at older steam locomotives where it having the role of reversing the rotation-translation movement. Being a simple, common manipulator, he is also a good teaching example, much used in the student courses of mechanics, mechanisms, robotics-mechatronics. That is why we want to present in this study in a concise way the geometry and the kinematics of this mechanism. There will be a constructive and one kinematic scheme. The mechanism consists of a crank (a motor element 1), an RRR dyad composed of elements 2 and 3 and an RRT dyad formed by kinematic elements 4 and 5. The motor element 1 has a complete rotation (360 degrees) being the single driving feature of the entire mechanism. The element 3 is a bar that links the engine element 1 to the rocker element 2. From the rocker element 2, the movement is forwarded through the rod 4 to the final execution member 5, which is a slider (patina), having the role of oscillating linearly (it can also be a piston in a cylinder). The mechanism can also be used by changing the driving element to the driven one so as to become a motor mechanism with the leading element 5 and when the rotation element 1 to become a final driven element. Thus it can be used as a mechanism for producing the movement and transmitting it with the conversion from the rotation to translation movement. We intend to present this mechanism, in the present paper, when it functions as a manipulator, having the motor element 1 and the final element, the execution element, the patina 5. Special emphasis will be placed on the kinematics of the mechanism, studied on elements, but also on structural groups. Obviously there will be presented and some applications of the mechanism.

show abstract

Section: Methodsmentioning

confidence: 99%

Geometry and Determining the Positions of a Plan Transporter Manipulator

Petrescu¹,

Aversa²,

Apicella³

et al. 2017

Journal of Mechatronics and Robotics

View full text Add to dashboard Cite

show abstract

“…Robots were developed and diversified, different aspects, but to-day, they start to be directed on two major categories: systems serial and parallel systems (PADULA;PERDEREAU, 2013). Parallel systems are more solid, but more difficult to designed and handled, which serial systems were those which have developed the most.…”

Section: Introductionmentioning

confidence: 99%

Parallel moving mechanical systems

Petrescu¹,

Petrescu

2014

Ind. Jour. Manag. & Prod.

View full text Add to dashboard Cite

Moving mechanical systems parallel structures are solid, fast, and accurate. Between parallel systems it is to be noticed Stewart platforms, as the oldest systems, fast, solid and precise. The work outlines a few main elements of Stewart platforms. Begin with the geometry platform, kinematic elements of it, and presented then and a few items of dynamics. Dynamic primary element on it means the determination mechanism kinetic energy of the entire Stewart platforms. It is then in a record tail cinematic mobile by a method dot matrix of rotation. If a structural mottoelement consists of two moving elements which translates relative, drive train and especially dynamic it is more convenient to represent the mottoelement as a single moving components. We have thus seven moving parts (the six motoelements or feet to which is added mobile platform 7) and one fixed.

show abstract

“…The man will be able to carry out its mission supreme-conquer or new galaxies (Aldana et al, 2013;Dong et al, 2013;Flavio de Melo et al, 2012;Lee, 2013;Garcia et al, 2007;He et al, 2013;Liu et al, 2013;Garcia-Murillo et al, 2013;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu and Petrescu, 2011;2012a;2012b;2013;Petrescu et al, 2009;Reddy et al, 2012;Tang et al, 2013;Tong et al, 2013;Wang et al, 2013;Wen et al, 2012), as the systems sequential controls the gearbox.…”

Section: Introductionmentioning

confidence: 99%

“…Robots were developed and diversified different aspects, but today, they are beginning to be turned into two main categories systems: Serial and parallel systems (Padula and Perdereau, 2013).…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method

Petrescu¹,

Aversa²,

Akash³

et al. 2017

American Journal of Engineering and Applied Sciences

View full text Add to dashboard Cite

Abstract:A robot is a machine especially programmable one through a computer capable of performing a complex series of actions in the automatic mode. Robots may be guided by a control device or external control may be incorporated in the inside. Robots can be built to take human form, but most robots are machines designed to perform a task without taking into account the manner in which it looks. The branch of the technology which is concerned with the design, construction, operation and application of robots, as well as other information systems for their control, the feedback of the touch screen and processing information is quite robotic. These technologies do with automatic machine, which may take the place of the people in hazardous environments or manufacturing processes, or looks like people in appearance, behavior and/or cognitive. Many of the robots of today are inspired by nature which contributes to the field of robotics bio-inspired by it. These robots have created a new branch of robotic (robotic soft). From the time of the ancient civilization there have been many accounts of devices user-configurable automatic and even similar to automatic and people, intended primarily as entertainment. As the mechanical techniques developed by the era of industrial, there were several practical applications, such as automatic machine, remote control and wireless remote control included. Anthropomorphic robots have in their component a plane structure 2R, which is a basic structure. In the reverse (inverse) kinematic, are known the kinematic parameters x M and y M , which represents the co-ordinates of scaling point M (endeffector M) and must be determined by analytical calculation the parameters ϕ 20 and ϕ 30 . First, it determines the intermediary parameters, d and φ with relations (1). For the purpose of determining angles can be used various methods (trigonometric, geometric, etc.), of which will be presented below one of them (as the most representative): A trigonometric method.

show abstract

An On-Line Path Planner for Industrial Manipulators

Cited by 54 publications

References 17 publications

Geometry and Determining the Positions of a Plan Transporter Manipulator

Geometry and Determining the Positions of a Plan Transporter Manipulator

Parallel moving mechanical systems

Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method

Contact Info

Product

Resources

About