Currently parallel robots are finding more and more acceptance in high-speed pick-and-place operations. As for all high-speed mechanisms, vibratory phenomena appear and deteriorate accuracy and dynamic performance at the terminal positions of the pick-and-place path. This paper aims to evaluate the effectiveness of several pick-and-place trajectories in terms of vibration reduction. To address this problem, an elastodynamic model of a five bar mechanism is developed and its behaviour is simulated as it traverses each trajectory. Spectral analysis of the vibrations allows the quality of the vibration reduction to be quantified. The results show that the first and second natural frequencies of the system are excited. It is also shown that long cycle times with smooth motion profiles improve residual error norms, but are outperformed by their discontinuous counterparts when short cycle times are imposed.
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ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
July 2–4, 2012
Nantes, France
Conference Sponsors:
- International
ISBN:
978-0-7918-4486-1
PROCEEDINGS PAPER
Trajectory Generation for High Speed Pick and Place Robots
Cornelius J. Barnard,
Cornelius J. Barnard
IRCCyN / CNRS, Nantes, France
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Sébastien Briot,
Sébastien Briot
IRCCyN / CNRS, Nantes, France
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Stéphane Caro
Stéphane Caro
IRCCyN / CNRS, Nantes, France
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Cornelius J. Barnard
IRCCyN / CNRS, Nantes, France
Sébastien Briot
IRCCyN / CNRS, Nantes, France
Stéphane Caro
IRCCyN / CNRS, Nantes, France
Paper No:
ESDA2012-82197, pp. 165-174; 10 pages
Published Online:
August 12, 2013
Citation
Barnard, CJ, Briot, S, & Caro, S. "Trajectory Generation for High Speed Pick and Place Robots." Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering. Nantes, France. July 2–4, 2012. pp. 165-174. ASME. https://doi.org/10.1115/ESDA2012-82197
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