Title

Placement of a Manipulator for Minimum Cycle Time

Document Type

Article

Abstract

Productivity of a manipulator depends, largely, on the time it takes to traverse a path, which is a function of the capacity of the actuators to produce torque. Increasing the torque capacity of the actuators to reduce path traversal time may be unrealistic in many cases. Therefore, this article studies the effects of the manipulator location, within a workcell, on the path traversal time. The article defines the boundaries of the manipulator base locus when the end-effector path is prescribed. Effects of joint mechanical limits and obstacles on this locus are also considered. The proposed algorithm uses nonlinear programming to search the manipulator base locus for the base location that yields the minimum time to traverse a path, subject to the actuator torque constraints of the manipulator. Detailed examples are included.

Disciplines

Applied Mathematics | Artificial Intelligence and Robotics | Computer-Aided Engineering and Design | Computer Engineering | Computer Sciences | Mechanical Engineering | Robotics

Permissions

Use Find in Your Library, contact the author, or use interlibrary loan to garner a copy of the article. Publisher copyright policy allows author to archive post-print (author’s final manuscript). When post-print is available or publisher policy changes, the article will be deposited

Publisher Citation

Trabia, M. B. and Kathari, M. (1999), Placement of a manipulator for minimum cycle time. J. Robotic Syst., 16: 419–431. doi: 10.1002/(SICI)1097-4563(199908)16:8<419::AID-ROB1>3.0.CO;2-Z