Abstract
This paper deals with the parametric optimum design of a parallel Schoenflies-motion robot, named "Ragnar", designed for fast and flexible pick-and-place applications. The robot architecture admits a rectangular workspace, which can utilize the shop-floor space efficiently. In this work, the parametric models of the transmission quality, elasto-statics and dynamics are established. By taking into consideration of design requirements and pick-and-place trajectory, a comprehensive multi-objective optimization problem is formulated to optimize both kinematic and dynamic performances. The Pareto-front is obtained, which provides optimal solutions to the robot design. Robot prototyping work based on the optimal results is described.
| Original language | English |
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| Title of host publication | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Number of pages | 6 |
| Place of Publication | Hamburg, Germany |
| Publisher | IEEE |
| Publication date | 2015 |
| Pages | 3158-3163 |
| ISBN (Print) | 978-1-4799-9994-1 |
| DOIs | |
| Publication status | Published - 2015 |
| Event | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Gateway to the Era of Robots - Congress Center Hamburg (CCH), Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 http://www.iros2015.org/ |
Conference
| Conference | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
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| Location | Congress Center Hamburg (CCH) |
| Country/Territory | Germany |
| City | Hamburg |
| Period | 28/09/2015 → 02/10/2015 |
| Internet address |