Kinematic design and motor selection of SCARA-type manipulators for speed enhancement

In this study, a numerical procedure for designing kinematic parameters of SCARA-type manipulators is proposed to yield such a design that the resulting manipulator has the fastest cycle time for a given task. To achieve this goal, an optimization problem is formulated to minimize the cycle time by determining geometric parameters such as the link lengths and the locations of manipulators as well as the trajectory. The representative task to get the cycle time is defined as CP (continuous path) motion along the path crisscrossing the standard working area. A gradient projection algorithm is used to obtain the optimal design with the assumption that each actuator should exert a torque and angular velocity within the capacity of specific commercially available direct-drive motors. SCARA-type manipulators of both absolute coordinate and relative coordinate types are designed to reduce the cycle times. The results show that the absolute coordinate manipulator produces a shorter cycle time than the relative coordinate manipulator in optimal designs.
Publisher
VSP BV
Issue Date
1992
Language
ENG
Citation

ADVANCED ROBOTICS, v.6, no.3, pp.307 - 318

ISSN
0169-1864
URI
http://hdl.handle.net/10203/57754
Appears in Collection
ME-Journal Papers(저널논문)
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