Parametric Optimal Design of a Parallel Schönflies-Motion Robot under Pick-And-Place Trajectory Constraints

Guanglei Wu; Shaoping Bai; Preben  Hjørnet

doi:10.1109/IROS.2015.7353814

Parametric Optimal Design of a Parallel Schönflies-Motion Robot under Pick-And-Place Trajectory Constraints

Guanglei Wu, Shaoping Bai, Preben Hjørnet

Solid and Computational Mechanics

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

11 Citationer (Scopus)

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.

Originalsprog	Engelsk
Titel	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Antal sider	6
Udgivelsessted	Hamburg, Germany
Forlag	IEEE
Publikationsdato	2015
Sider	3158-3163
ISBN (Trykt)	978-1-4799-9994-1
DOI	https://doi.org/10.1109/IROS.2015.7353814
Status	Udgivet - 2015
Begivenhed	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Gateway to the Era of Robots - Congress Center Hamburg (CCH), Hamburg, Tyskland Varighed: 28 sep. 2015 → 2 okt. 2015 http://www.iros2015.org/

Konference

Konference	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Lokation	Congress Center Hamburg (CCH)
Land/Område	Tyskland
By	Hamburg
Periode	28/09/2015 → 02/10/2015
Internetadresse	http://www.iros2015.org/

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10.1109/IROS.2015.7353814

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7353814

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Citationsformater

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title = "Parametric Optimal Design of a Parallel Sch{\"o}nflies-Motion Robot under Pick-And-Place Trajectory Constraints",

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.",

author = "Guanglei Wu and Shaoping Bai and Preben Hj{\o}rnet",

year = "2015",

doi = "10.1109/IROS.2015.7353814",

language = "English",

isbn = "978-1-4799-9994-1",

pages = "3158--3163",

booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE",

address = "United States",

note = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : Gateway to the Era of Robots, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

url = "http://www.iros2015.org/",

}

Wu, G, Bai, S & Hjørnet, P 2015, Parametric Optimal Design of a Parallel Schönflies-Motion Robot under Pick-And-Place Trajectory Constraints. i 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, Hamburg, Germany, s. 3158-3163, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Tyskland, 28/09/2015. https://doi.org/10.1109/IROS.2015.7353814

Parametric Optimal Design of a Parallel Schönflies-Motion Robot under Pick-And-Place Trajectory Constraints. / Wu, Guanglei; Bai, Shaoping; Hjørnet, Preben .
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany: IEEE, 2015. s. 3158-3163.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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AU - Wu, Guanglei

AU - Bai, Shaoping

AU - Hjørnet, Preben

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2015.7353814

DO - 10.1109/IROS.2015.7353814

M3 - Article in proceeding

SN - 978-1-4799-9994-1

SP - 3158

EP - 3163

BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE

CY - Hamburg, Germany

T2 - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Y2 - 28 September 2015 through 2 October 2015

ER -

Parametric Optimal Design of a Parallel Schönflies-Motion Robot under Pick-And-Place Trajectory Constraints

Abstract

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