Details
| Original language | English |
|---|---|
| Pages (from-to) | 285-293 |
| Number of pages | 9 |
| Journal | Robotica |
| Volume | 31 |
| Issue number | 2 |
| Publication status | Published - Mar 2013 |
| Externally published | Yes |
Abstract
Binary-actuated robots offer a discrete workspace with the advantage that no feedback control is needed, as their actuators have two mechanical end-positions. This contribution focuses on a planar parallel robot with a PRRRP structure and driven by rodless pneumatic cylinders. Thus, the robot's workspace only features four destination points, which can be reached quickly and with high repeatability. Because of the fact that there is no possibility to reach in discrete points, an adapted task configuration is essential. The objective of this work is to establish and validate a synthesis and calibration technique for binary parallel robots with a PRRRP structure.
Keywords
- Automation, Binary robot, Design, Manufacturing, Modular robots, Parallel manipulators
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- General Mathematics
- Computer Science(all)
- Computer Science Applications
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In: Robotica, Vol. 31, No. 2, 03.2013, p. 285-293.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Adapted task configuration of a reconfigurable binary parallel robot with PRRRP structure
AU - Scḧutz, Daniel
AU - Raatz, Annika
AU - Hesselbach, Jürgen
PY - 2013/3
Y1 - 2013/3
N2 - Binary-actuated robots offer a discrete workspace with the advantage that no feedback control is needed, as their actuators have two mechanical end-positions. This contribution focuses on a planar parallel robot with a PRRRP structure and driven by rodless pneumatic cylinders. Thus, the robot's workspace only features four destination points, which can be reached quickly and with high repeatability. Because of the fact that there is no possibility to reach in discrete points, an adapted task configuration is essential. The objective of this work is to establish and validate a synthesis and calibration technique for binary parallel robots with a PRRRP structure.
AB - Binary-actuated robots offer a discrete workspace with the advantage that no feedback control is needed, as their actuators have two mechanical end-positions. This contribution focuses on a planar parallel robot with a PRRRP structure and driven by rodless pneumatic cylinders. Thus, the robot's workspace only features four destination points, which can be reached quickly and with high repeatability. Because of the fact that there is no possibility to reach in discrete points, an adapted task configuration is essential. The objective of this work is to establish and validate a synthesis and calibration technique for binary parallel robots with a PRRRP structure.
KW - Automation
KW - Binary robot
KW - Design
KW - Manufacturing
KW - Modular robots
KW - Parallel manipulators
UR - http://www.scopus.com/inward/record.url?scp=84873120527&partnerID=8YFLogxK
U2 - 10.1017/S0263574712000240
DO - 10.1017/S0263574712000240
M3 - Article
AN - SCOPUS:84873120527
VL - 31
SP - 285
EP - 293
JO - Robotica
JF - Robotica
SN - 0263-5747
IS - 2
ER -