0
RESEARCH PAPERS

A Two-Dimensional Formulation for Path-Placement in the Workcells of Planar 3-R Robots

[+] Author and Article Information
N. A. Soman

Center for Technology, Policy & Industrial Development, Massachusetts Institute of Technology, Cambridge, MA 02139

J. K. Davidson

Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ 85287-6106

J. Mech. Des 117(3), 479-484 (Sep 01, 1995) (6 pages) doi:10.1115/1.2826703 History: Received June 01, 1994; Revised May 01, 1995; Online December 11, 2007

Abstract

A new systematic formulation is presented that determines suitable locations for a workpiece, and its associated task-motion, in the workspace of a three-hinged planar (SCARA) robotic workcell. It determines all acceptable positions for the first joint of the robot relative to the workpiece; therefore, all solutions are represented as an area in two dimensions, unlike existing methods of motion-planning that present them as a volume in a three-dimensional joint-space for the same planar robot. This simplifies the solution-space by reducing its dimension from three to two. All possible acceptable designs appear in a graphical form that can be readily visualized and directly measured in a Cartesian frame of reference in the workcell. Applications include locating workpieces with tool-paths for fusion welding and for deposition of adhesives.

Copyright © 1995 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In