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


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
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