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A novel tool to optimize the performance of SCARA robots used in pick and place operations
Max Antonio González-Palacios,Mario A. Garcia-Murillo,Mariana González-Dávila 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.10
SCARA robots have been manufactured in different sizes and link ratios to satisfy a range of applications such as pick-and-place operations. Studies about kinematic design have reported several approaches to quantify the performance of these robots. However, some of these are configuration-dependant, and some others are dedicated to solving specific applications. The novel tool reported here provides an image of the workspace in which the manipulator generates quasi-optimal trajectories for a given ratio of the link lengths. This single value is named optimal kinematic performance index. It provides the best link lengths ratio and a map of pick-and-place points that would perform the task with a minimum angular displacement of the links. Examples related to the optimization of the trajectory, design of the link lengths or to the selection of a commercial model, are presented. A survey of commercial SCARA robots is conducted to classify them according to their OKPI.