Abstract
This paper proposes a novel approach for faster trajectory planning of pick-and-place in a 3RRR planar parallel robot using as main parameter its velocity capability in the Cartesian space. The paper also proposes a Generalized Scaling Factor Method to obtain the maximum velocity (Viso) at the end-effector of a planar parallel manipulator while its angular velocity is is kept constant by applying a unit twist ($V) including an unknown value μ as the component of the angular velocity in z. Two study cases are shown to analyse the faster trajectory planning for different trajectories and in different working modes.
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Mejia, L., Ponce, D., Simas, H., Martins, D. (2019). An approach for faster trajectory planning of pick-and-place parallel robots using velocity capability. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_252
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DOI: https://doi.org/10.1007/978-3-030-20131-9_252
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