A Two-Dimensional Formulation for Path-Placement in the Workcells of Planar 3-R Robots-Reference-Cited by-同舟云学术

A Two-Dimensional Formulation for Path-Placement in the Workcells of Planar 3-R Robots

Published:1995-09-01 Issue:3 Volume:117 Page:479-484
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Soman N. A.¹,Davidson J. K.²

Affiliation:

1. Center for Technology, Policy & Industrial Development, Massachusetts Institute of Technology, Cambridge, MA 02139

2. Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ 85287-6106

Abstract

A new systematic formulation is presented that determines suitable locations for a workpiece, and its associated task-motion, in the workspace of a three-hinged planar (SCARA) robotic workcell. It determines all acceptable positions for the first joint of the robot relative to the workpiece; therefore, all solutions are represented as an area in two dimensions, unlike existing methods of motion-planning that present them as a volume in a three-dimensional joint-space for the same planar robot. This simplifies the solution-space by reducing its dimension from three to two. All possible acceptable designs appear in a graphical form that can be readily visualized and directly measured in a Cartesian frame of reference in the workcell. Applications include locating workpieces with tool-paths for fusion welding and for deposition of adhesives.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/117/3/479/5672496/479_1.pdf

Reference26 articles.

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4. Davidson J. , 1992, “A Synthesis Procedure for Design of 3-R Planar Robotic Workcells in Which Large Rotations are Required at the Workpiece,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 114, No. 4, pp. 547–558.

5. Davidson J. , and SomanN. A., 1995, “Limits at $3 in a New Formulation for Path-Placement in the Workcells of Planar 3-R Robots,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 117, No. 3, Sept., pp. 485–490.

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