Design of a three-axis parallel-configuration robot for gantry mounting

Edward R. Fielding; Lyall S. Shapiro; D. A. Slogrove

doi:10.1117/12.217564

28 August 1995 Design of a three-axis parallel-configuration robot for gantry mounting

Edward R. Fielding, Lyall S. Shapiro, D. A. Slogrove

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.

Citation Download Citation

Edward R. Fielding, Lyall S. Shapiro, and 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); https://doi.org/10.1117/12.217564

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available