28 August 1995 Design of a three-axis parallel-configuration robot for gantry mounting
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Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995) https://doi.org/10.1117/12.217564
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China
Abstract
A parallel configuration robot is based on closed loop kinematic chains, these offer a number of advantages in terms of strength and rigidity, leading to improved accuracy in robotic assembly applications. This paper, in addition to presenting the basic design issues, discusses the control strategy for the robot. The control of the robot will be PC based, and the main component of the control circuit is an LM 628 motion control chip. A design for the control circuitry is presented in the paper. A full simulation of the design has been carried out using a commercial dynamic simulation package (CADSI DADS) and these results are presented. These include the mapping of the work envelope, the joint angles of the links to enable linear movement of the tool platform, and the torque requirements for the joint actuators.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Edward R. Fielding, Lyall S. Shapiro, D. A. Slogrove, "Design of a three-axis parallel-configuration robot for gantry mounting", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217564; https://doi.org/10.1117/12.217564
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