By Topic

Towards 100G with PKM. Is actuation redundancy a good solution for pick-and-place?

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
David Corbel ; LIRMM, Univ. Montpellier 2, CNRS, 161 rue Ada, 34392, France ; Marc Gouttefarde ; Olivier Company ; Fran├žois Pierrot

This paper analyzes the possible contribution of actuation redundancy in obtaining very high acceleration with Parallel Kinematic Machines (PKM). This study is based on redundant and non-redundant Delta/Par4-like robots (frequently used for pick-and-place applications). The dynamic model, valid for both redundant and non-redundant robots, is used to analyze the traveling plate acceleration capabilities: (i) at zero speed and in any directions, (ii) at zero speed in the “best” direction. The results show that actuation redundancy allows to homogenize the dynamic capabilities throughout the workspace and to increase the traveling plate acceleration capability. Finally, the design of a redundant Delta/Par4-like robot optimized for typical pick-and-place trajectories is presented.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010