The paper analyses the potential dynamic performance of a novel redundant SCARA robot, developed at the stage of functional design, with respect to the conventional model of the same manufacturer. It is shown that the introduction of a further revolute joint leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. The static and dynamic manipulability of both the conventional and the redundant robot are investigated and typical pick and place tasks are simulated to compare the arising cycle times.
Performance Analysis of a High-Speed Redundant Robot / Callegari, M.; Palmieri, G.; Palpacelli, M. C.; Bussola, R.; Legnani, G.. - ELETTRONICO. - (2018), pp. 1-6. (Intervento presentato al convegno 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018 tenutosi a Oulu; Finland nel July 2-4, 2018) [10.1109/MESA.2018.8449197].
Performance Analysis of a High-Speed Redundant Robot
M. Callegari
Conceptualization
;G. PalmieriInvestigation
;M. C. PalpacelliInvestigation
;
2018-01-01
Abstract
The paper analyses the potential dynamic performance of a novel redundant SCARA robot, developed at the stage of functional design, with respect to the conventional model of the same manufacturer. It is shown that the introduction of a further revolute joint leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. The static and dynamic manipulability of both the conventional and the redundant robot are investigated and typical pick and place tasks are simulated to compare the arising cycle times.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
