Time Minimum Trajectory Planning of a 2-DOF Translational Parallel Robot for Pick-and-place Operations |
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Authors: | T. Huang P.F. Wang X.M. Zhao |
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Affiliation: | 1 School of Mechanical Engineering, Tianjin University, Tianjin 300072, China 2 School of Engineering, The University of Warwick, Coventry CV4 7AL, UK |
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Abstract: | This paper deals with the time-minimum trajectory planning of a 2-DOF translational parallel robot named the Diamond for rapid pick-and-place operations. Kinematics and dynamics of the robot are formulated using a parametric function, allowing the representation of the input torque and velocity constraints to be converted to those in terms of the path length. A modified algorithm for achieving the minimized traversal time is proposed by taking into account the path jerk limit. Lithium-ion battery sorting using the Diamond robot is taken as an example to demonstrate the applicability of this approach. |
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Keywords: | Parallel Robot Motion Planning Pick-and-place |
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