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论文类型： 会议论文

发表时间： 2019-01-01

收录刊物： EI、CPCI-S

卷号： 11742

页面范围： 425-435

关键字： Schonflies motion generator; Parallel robot; Pick-and-place application; Planetary gear train

摘要： This paper introduces a new four-limb parallel Schonflies 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.