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Spring‐assisted gantry robots versus conventional gantry robots: spring constant optimization and work minimization

Spring‐assisted gantry robots versus conventional gantry robots: spring constant optimization and... The spring‐assisted gantry robots, described in this paper, were designed primarily for the rapid transfer of lightweight objects from one point to another, e.g. to pick objects from a conveyor belt and to place them in a box. The average amount of work required for pick‐and‐place operations carried out by a conventional gantry robot was decided. Springs were added to conserve the kinetic energy of the main bar, which slides in the X ‐direction and the work of the same pick‐and‐place operation was decided. A theoretical study showed that when the spring constant was optimized the required motor work of the spring‐assisted robots were 42–95 percent less than the required work of the conventional robot. The conceptual robot exists in mathematical models in Matlab and SIMULINK. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Spring‐assisted gantry robots versus conventional gantry robots: spring constant optimization and work minimization

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References (22)

Publisher
Emerald Publishing
Copyright
Copyright © 2002 MCB UP Ltd. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439910110410060
Publisher site
See Article on Publisher Site

Abstract

The spring‐assisted gantry robots, described in this paper, were designed primarily for the rapid transfer of lightweight objects from one point to another, e.g. to pick objects from a conveyor belt and to place them in a box. The average amount of work required for pick‐and‐place operations carried out by a conventional gantry robot was decided. Springs were added to conserve the kinetic energy of the main bar, which slides in the X ‐direction and the work of the same pick‐and‐place operation was decided. A theoretical study showed that when the spring constant was optimized the required motor work of the spring‐assisted robots were 42–95 percent less than the required work of the conventional robot. The conceptual robot exists in mathematical models in Matlab and SIMULINK.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Feb 1, 2002

Keywords: Robots; Mechanics; High speed

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