Elastodynamics of a parallel Schönflies-motion generator-Reference-Cited by-同舟云学术

Elastodynamics of a parallel Schönflies-motion generator

Published:2020-12-01 Issue:4 Volume:44 Page:511-519
ISSN:0315-8977
Container-title:Transactions of the Canadian Society for Mechanical Engineering
language:en
Short-container-title:Trans. Can. Soc. Mech. Eng.

Author:

Yin Zuyu¹²,Belzile Bruno¹²,Angeles Jorge¹²,Forbes James Richard¹²

Affiliation:

1. Centre for Intelligent Machines and Department of Mechanical Engineering, McGill University, Montréal, QC H3A 0C3, Canada

2. Centre for Intelligent Machines and Department of Mechanical Engineering, McGill University, Montréal, QC H3A 0C3, Canada.

Abstract

The authors propose a model of the elastodynamics of the Peppermill Carrier, a parallel isostatic Schönflies-motion generator designed for pick-and-place operations. The Cartesian spring and the finite element method are used to build the elastodynamics model of the robot. The stiffness and mass matrices are introduced to obtain the natural frequencies of the robot along a test trajectory — the Adept test cycle — that serves to evaluate the performance of the robot with respect to the operation speed.

Publisher

Canadian Science Publishing

Subject

Mechanical Engineering

Link

https://cdnsciencepub.com/doi/pdf/10.1139/tcsme-2019-0186

Reference27 articles.

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