Optimization of a Test Trajectory for SCARA Systems

Gauthier, Jean-François; Ángeles, Jorge; Nokleby, Scott B.

doi:10.1007/978-1-4020-8600-7_24

Cited by 42 publications

(26 citation statements)

References 12 publications

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“…Moreover, the MP should follow this trajectory with a rotation of 180°while moving along the horizontal segment. Here, we use the smoothed test trajectory proposed in [17], as displayed in Fig. 11.…”

Section: Numerical Resultsmentioning

confidence: 99%

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On the elastostatic analysis of mechanical systems

Taghvaeipour¹,

Ángeles

Lessard

2012

Mechanism and Machine Theory

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Section: Numerical Resultsmentioning

confidence: 99%

“…11. The smoothed test trajectory proposed in[17].Thus, by substitution of Eqs. (45) and (46) into Eqs.…”

mentioning

confidence: 99%

On the elastostatic analysis of mechanical systems

Taghvaeipour¹,

Ángeles

Lessard

2012

Mechanism and Machine Theory

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“…Again taking the EAC path with 28   and 0.5 Fig.5 shows the norms of acceleration and jerk generated by three pick-and-place trajectories planned in the Cartesian space. The first uses two symmetric Lamé curves to link the lift-off and set-down points with a 4-5-6-7 polynomial providing the motion profile along the entire path [10]. The second employs piecewise 4-5-6-7 polynomials [4] for the motion profile along two coordinate axes with the optimized…”

Section: The Optimization Problemmentioning

confidence: 99%

“…Path-based trajectory planning is concerned with first generating an appropriate geometric path parameterized with respect to the arc length and then designing a proper motion profile along that path. For example, Gauthier et al [10] took Lamé curves with G 2 -continuity at square corners linking the vertical and horizontal segments, and employed a '4-5-6-7 polynomial' with C 3 -continuity as the motion profile. The trajectory was then generated by minimizing the root-mean-square value of the time-derivative of the kinetic energy per unit mass of the payload.…”

Section: Introductionmentioning

confidence: 99%

An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines

Huang

Chetwynd

2018

Mechanism and Machine Theory

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2018) An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines. Mechanism and Machine Theory,. A note on versions:The version presented here may differ from the published version or, version of record, if you wish to cite this item you are advised to consult the publisher's version. Please see the 'permanent WRAP url' above for details on accessing the published version and note that access may require a subscription.For more information, please contact the WRAP Abstract: This paper presents a new, highly effective approach for optimal smooth trajectory planning of high-speed pick-and-place parallel robots. The pick-and-place path is decomposed into two orthogonal coordinate axes in the Cartesian space and quintic B-spline curves are used to generate the motion profile along each axis for achieving C 4 -continuity. By using symmetrical properties of the geometric path defined, the proposed motion profile becomes essentially dominated by two key factors, representing the ratios of the time intervals for the end-effector to move from the initial point to the adjacent virtual and/or the via-points on the path. These two factors can then be determined by maximizing a weighted sum of two normalized single-objective functions and expressed by curve fitting as functions of the width/height ratio of the pick-and-place path, so allowing them to be stored in a look-up table to enable real-time implementation. Experimental results on a 4-DOF SCARA type parallel robot show that the residual vibration of the end-effector can be substantially reduced thanks to the very continuous and smooth joint torques obtained.

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“…A cycle is defined as the round movement along a trajectory of 25 × 305 × 25 mm with a 1 kg payload in this work, of which the Adept test cycle is widely adopted for the smoothed trajectory[39] in many other cases.…”

mentioning

confidence: 99%

A four-limb parallel Schönflies motion generator with full-circle end-effector rotation

Lin

Zhao

et al. 2020

Mechanism and Machine Theory

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This paper presents a four-limb parallel Schönflies motion generator for the pick-and-place application, whose end-effector is composed of a planetary gear train as the amplification mechanism to realize the full-circle rotation. The kinematic aspects including the workspace, dexterity and singularity are analyzed and evaluated. The singular configurations and the singularity loci are identified both graphically and numerically, which shows that the singular configurations of the manipulator can be avoided by keeping all the limbs working in a prescribed working mode together with the end-effector rotation in a clockwise direction from the neutral orientation. Moreover, the dexterity evaluation is carried out to depict the workspace quality and dexterous working envelope. It turns out that the proposed robot admits a super-ellipsoidal workspace with the fullcircle rotation of the end-effector, suitable for pick-and-place operations. Finally, robot dynamics is considered to select the actuators.

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Optimization of a Test Trajectory for SCARA Systems

Cited by 42 publications

References 12 publications

On the elastostatic analysis of mechanical systems

On the elastostatic analysis of mechanical systems

An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines

A four-limb parallel Schönflies motion generator with full-circle end-effector rotation

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