Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task
In the industrial field，the rigid mechanism design of the pick-and-place robot tends to be mature，but it has the defects of has a lot of mass and high risk factor when human and machine work together. At the same time，as a new design material，the elastic rod has been applied in the fields of medical...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.014 |
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| _version_ | 1841547371072192512 |
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| author | Zhang Junxia Zhang Qiuchen |
| author_facet | Zhang Junxia Zhang Qiuchen |
| author_sort | Zhang Junxia Zhang Qiuchen |
| collection | DOAJ |
| description | In the industrial field，the rigid mechanism design of the pick-and-place robot tends to be mature，but it has the defects of has a lot of mass and high risk factor when human and machine work together. At the same time，as a new design material，the elastic rod has been applied in the fields of medical treatment and exploration due to its own material advantages. Based on this，a parallel elastic rod robot mechanism that can be applied to pick-and-place tasks is proposed. By using the simplified Cosserat elastic rod model，the deformation of the elastic rod is described from the perspective of rigid body motion，and the dynamics model of the elastic rod is derived. The equation and virtual prototype model of the parallel elastic rod are established in Matlab. Through the analysis of key materials and workspace，the corresponding mechanism parameters are obtained. The relationship between the input angle，the torque and the displacement of the end-effector is studied. The feasibility of the theory and the rationality of the design are verified by setting up the prototype，which also provides a reference for the industrial application of the elastic rod. |
| format | Article |
| id | doaj-art-d6e219082dac47ebbc40c2b2f8a85d07 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d6e219082dac47ebbc40c2b2f8a85d072025-01-10T14:45:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-01788331612132Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place TaskZhang Junxia Zhang QiuchenIn the industrial field，the rigid mechanism design of the pick-and-place robot tends to be mature，but it has the defects of has a lot of mass and high risk factor when human and machine work together. At the same time，as a new design material，the elastic rod has been applied in the fields of medical treatment and exploration due to its own material advantages. Based on this，a parallel elastic rod robot mechanism that can be applied to pick-and-place tasks is proposed. By using the simplified Cosserat elastic rod model，the deformation of the elastic rod is described from the perspective of rigid body motion，and the dynamics model of the elastic rod is derived. The equation and virtual prototype model of the parallel elastic rod are established in Matlab. Through the analysis of key materials and workspace，the corresponding mechanism parameters are obtained. The relationship between the input angle，the torque and the displacement of the end-effector is studied. The feasibility of the theory and the rationality of the design are verified by setting up the prototype，which also provides a reference for the industrial application of the elastic rod.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.014Cosserat elastic rod |
| spellingShingle | Zhang Junxia Zhang Qiuchen Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task Jixie chuandong Cosserat elastic rod |
| title | Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task |
| title_full | Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task |
| title_fullStr | Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task |
| title_full_unstemmed | Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task |
| title_short | Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task |
| title_sort | design and analysis of a parallel elastic rod robot mechanism for pick and place task |
| topic | Cosserat elastic rod |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.014 |
| work_keys_str_mv | AT zhangjunxiazhangqiuchen designandanalysisofaparallelelasticrodrobotmechanismforpickandplacetask |