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Proceedings Paper

Design of a three-axis parallel-configuration robot for gantry mounting
Author(s): Edward R. Fielding; Lyall S. Shapiro; D. A. Slogrove
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Paper 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.

Paper Details

Date Published: 28 August 1995
PDF: 10 pages
Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217564
Show Author Affiliations
Edward R. Fielding, Univ. of the Witwatersrand (South Africa)
Lyall S. Shapiro, Univ. of the Witwatersrand (South Africa)
D. A. Slogrove, Univ. of the Witwatersrand (South Africa)


Published in SPIE Proceedings Vol. 2620:
International Conference on Intelligent Manufacturing
Shuzi Yang; Ji Zhou; Cheng-Gang Li, Editor(s)

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