Browse > Article
http://dx.doi.org/10.3795/KSME-A.2013.37.8.1043

Development of Industrial High-Speed Transfer Parallel Robot  

Kim, Byung In (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
Kyung, Jin Ho (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
Do, Hyun Min (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
Jo, Sang Hyun (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.37, no.8, 2013 , pp. 1043-1050 More about this Journal
Abstract
Parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced.
Keywords
Parallel Robot; Kinematic Analysis; Structural Analysis;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Nam, Y., Lee, Y. and Park, M., 2006, "A Comparative Study of 2 DOF Parallel Mechanism : Workspace Optimization and Kinematic Performance," Trans. Korean Soc. Mech. Eng. A, Vol. 30, No. 12, pp. 1564-1572   DOI   ScienceOn
2 Cha, Y., 2009, "Development Status of a Parallel Mechanism" Journal of Institute of Control, Robotics and Systems, Vol. 15, No. 1, pp. 22-28
3 Bedoustani, Y. B., Taghirad, H. D. and Aref, M. M., "Dynamics Analysis of A Redundant Parallel Manipulator Driven By Elastic Cables," Department of Electrical Engineering, K.N. Toosi University of Technology
4 Jeong, J. I., Kang, D., Cho, Y. M. and Kim, J. W., 2004, "Kinematic Calibration for Redundantly Actuated Parallel Mechanisms," ASME Journal of Mechanical design, Vol. 126, pp. 307-318   DOI   ScienceOn
5 Olsson, A., 2009, "Modeling and control of a Delta-3 Robot," Department of Automatic Control Lund University, p. 71.
6 ANSYS Inc, 2003, "Element Reference Manual" Volume II
7 Timoshenko, S. and Goodier, J., 1970., "Theory of elasticity," 3rd ed., McGraw-Hill, New York
8 Adept Quattro s650H Robot User's Guide, Rev. B. p. 93.