Automatic elliptical trajectory planning algorithm for pick and place operation

Li, Wenguang; Xiao, Yongfei; Bi, Shuhui; Guangyue, Du

doi:10.1109/icamechs.2013.6681746

Cited by 4 publications

(3 citation statements)

References 6 publications

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“…Robot cenderung digunakan sebagai pengganti pekerja manual menjadi sistem yang otomatis, karena tugas yang berulang dan mengurangi kesalahan pekerja. Robot pick and place merupakan salah satu robot industri yang membantu menyelesaikan tugas tersebut (Li, Xiao, Bi, & Du, 2013). Robot pick and place banyak digunakan dalam industri, terutama di jalur produksi tempat membantu memilih dan menempatkan komponen di lokasi yang diinginkan (Kit & Venkatratnam, 2016).…”

Section: Pendahuluanunclassified

“…Tujuan perencanaan lintasan adalah untuk menghasilkan input untuk sistem kontrol manipulator untuk menjalankan satu aplikasi. Salah satu masalah utama dalam robotika adalah pengembangan sistem perencanaan lintasan otomatis (Li et al, 2013). Sebagian besar robot beroperasi dalam siklus yang telah ditentukan sebelumnya, dengan membandingkan cara manusia melakukan pekerjaan yang lebih banyak fleksibilitas, (Andhare, 2016) memberikan gagasan menemukan koordinat objek x, y. Hal ini juga dapat membantu pengembangan algoritma pergerakan robot pick and place untuk mengoptimalkan karakteristik kinematik saat menghadapi dua titik di antara ruang kerja robot (Li et al, 2013).…”

Section: Pendahuluanunclassified

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Sistem Pick and Place Dua Derajat Kebebasan menggunakan Metoda Regresi

2019

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ABSTRAKSistem pick and place merupakan suatu sistem mekanik yang digunakan untuk memanipulasi pergerakan mengangkat, memindahkan, dan meletakkan untuk meringankan kerja manusia. Dalam mempelajari cara kerja robot industri sederhana dibuat miniatur robot pick and place (sederhana). Perancangan yang dibuat yaitu sistem pick and place dengan dua derajat kebebasan dengan ukuran yang memiliki perbandingan 1:0.35 dari referensi ukuran desain robot. Aplikasi SolidWorks digunakan untuk mendesain robot Diamond. Metode Regresi digunakan untuk memprediksi posisi motor servo dalam mencapai posisi yang diinginkan. Metode regresi berhasil digunakan untuk mencari hubungan antara target posisi setpoint dengan posisi motor servo 1 dan 2 (persamaan orde 2 dan 3) untuk mengontrol motor servo. Performansi yang terbaik dari sistem pick and place yang dibuat menggunakan trayektori miring, dengan kecepatan 100 (11.1 rpm), menghasilkan error ± 0.0729 dan presisi 1.63%. Dalam penelitian ini, kecepatan end-effector yang lebih rendah menghasilkan keakurasian dan kepresisian yang lebih baik.Kata kunci: Pick and Place, Robot Diamond, Dua derajat kebebasan, Regresi ABSTRACTThe pick and place system are a mechanic system used in manipulating the movements of lifting, moving, and laying to ease human work. In learning how to work a simple industrial robot, a miniature pick and place robot is created. The design made is a pick and place system with two degrees of freedom with a size that has a ratio of 1: 0.35 from the reference size of the robot design. Regression method is used to predict the position of the servo motor in reaching the desired position. Regression method was successfully used to find the relationship between the target setpoint position and the position of servo motors 1 and 2 (order equations 2 and 3) to control the servo motor. The best performance from the pick and place system that is made using an aslope trajectory, with a speed of 100 (11.1 rpm), produces an error ± 0.0729 and precision 1.63%. In this research, lower end-effector speeds result in better accuracy and precision.Keywords: Pick and Place, Diamond Robot, 2-DOF, Regression

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Section: Pendahuluanunclassified

Sistem Pick and Place Dua Derajat Kebebasan menggunakan Metoda Regresi

2019

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“…Except for its potential usage in astronomical observation, there are some practical applications with the requirement of an elliptical trajectory. For instance, elliptical trajectory motion is introduced in the field of pick-place industrial applications [29]. Robotic-assisted elliptical training is being widely employed to help patients retain walking ability [30], where the proposed cable-driven mechanism is suitable due to safety.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Spatial Cable-Driven Mechanism and Its Equivalent Hybrid Mechanism for Elliptical Trajectory

Wang

et al. 2023

Machines

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In this paper, a spatial cable-driven parallel mechanism in a V-shaped cable arrangement is proposed. It is further simplified as a planar hybrid cable-driven parallel mechanism to analyze its kinematics, which consists of two identical active cable chains and a passive cross-slide mechanism. In order to investigate the degrees of freedom (DoFs) of the hybrid mechanism using screw theory, cable chains are represented as rotational–prismatic–rotational (RPR) chains. The motion pairs of all the chains are denoted according to screw theory. Firstly, the number and the types of DoFs of each chain are determined. Then, the number and the types of DoFs for the hybrid mechanism are calculated. Furthermore, the theoretical result is verified using the modified Grübler–Kutzbach (G-K) formula. It shows that the unique DoF of the equivalent mechanism is a rotation with a continuously changing axis, which is consistent with the V-type cable-driven mechanism with elliptical trajectories. Finally, the kinematics analysis of the cross-slider mechanism driven by two cables is carried out. The length, velocity and acceleration of the cables are obtained from numerical calculation in MATLAB, and the results are demonstrated using ADAMS simulation.

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