Abstract
This paper introduces a new four-limb parallel Schönflies motion generator for the pick-and-place application, whose end-effector adopts a planetary gear train as the amplification mechanism to realize the full-circle rotation. The preliminary kinematic analysis and workspace/dexterity evaluation are carried out to depict the workspace quality and dexterous working envelope. The performance comparison with different geometric parameters show the influence of the variables to the robot performance.
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Acknowledgement
The supports from the Fundamental Research Funds for the Central Universities (No. DUT19JC25), the Natural Science Foundation and the Doctoral Start up Foundation of Liaoning Province (Nos. 20180520028, 20170520134), and the Applied Basic Research Programs of Changzhou (No. CJ20180017) are gratefully acknowledged.
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Wu, G., Lin, Z., Shen, H., Zhao, W., Zhang, S. (2019). A New Four-Limb Parallel Schönflies Motion Generator with End-effector Full-Circle Rotation via Planetary Gear Train. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_38
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DOI: https://doi.org/10.1007/978-3-030-27535-8_38
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