Analysis of a planar manipulator operated by impulsion forces

For industrial automation it is often necessary to sort a large number of objects in a certain order for a subsequent step ofprocess._ Today, this is made by combining several pick and place robots, which move the objects to their desired destination one at a time. For a large number of objects per...

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Autores principales:	Grisales V,Edgar A, Quintero R,Héctor F, Monroy J,Mauricio
Lenguaje:	English
Publicado:	Universidad de Tarapacá. 2016
Materias:	Parallel manipulator transport of parts orientation of parts mechanical vibrations impulsion force
Acceso en línea:	http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052016000100004
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spelling	oai:scielo:S0718-330520160001000042016-01-18Analysis of a planar manipulator operated by impulsion forcesGrisales V,Edgar AQuintero R,Héctor FMonroy J,Mauricio Parallel manipulator transport of parts orientation of parts mechanical vibrations impulsion force For industrial automation it is often necessary to sort a large number of objects in a certain order for a subsequent step ofprocess._ Today, this is made by combining several pick and place robots, which move the objects to their desired destination one at a time. For a large number of objects per unit of time, this solution may become impractical because the individual robots may interfere with each other and the accelerations caused may be too high. This paper describes the principle of operation of a vibratory manipulator that produces impulsion force vector fields generated by longitudinal and transverse oscillations about a horizontal plane, which allow both movements of transport and orientation of parts. The manipulator has a rigid moving plate on which the object to move is placed. Then, forces on the moving plate are induced by longitudinal mechanical vibrations with asymmetric velocity profiles. Eight electromagnetic actuators that, in conjunction with flexible couplings, transmit longitudinal oscillations to the moving plate generate these velocity profiles. The amplitude of motion for each actuator is programmed by the user depending on the trajectory that the piece shall follow.info:eu-repo/semantics/openAccessUniversidad de Tarapacá.Ingeniare. Revista chilena de ingeniería v.24 n.1 20162016-01-01text/htmlhttp://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052016000100004en10.4067/S0718-33052016000100004
institution	Scielo Chile
collection	Scielo Chile
language	English
topic	Parallel manipulator transport of parts orientation of parts mechanical vibrations impulsion force
spellingShingle	Parallel manipulator transport of parts orientation of parts mechanical vibrations impulsion force Grisales V,Edgar A Quintero R,Héctor F Monroy J,Mauricio Analysis of a planar manipulator operated by impulsion forces
description	For industrial automation it is often necessary to sort a large number of objects in a certain order for a subsequent step ofprocess._ Today, this is made by combining several pick and place robots, which move the objects to their desired destination one at a time. For a large number of objects per unit of time, this solution may become impractical because the individual robots may interfere with each other and the accelerations caused may be too high. This paper describes the principle of operation of a vibratory manipulator that produces impulsion force vector fields generated by longitudinal and transverse oscillations about a horizontal plane, which allow both movements of transport and orientation of parts. The manipulator has a rigid moving plate on which the object to move is placed. Then, forces on the moving plate are induced by longitudinal mechanical vibrations with asymmetric velocity profiles. Eight electromagnetic actuators that, in conjunction with flexible couplings, transmit longitudinal oscillations to the moving plate generate these velocity profiles. The amplitude of motion for each actuator is programmed by the user depending on the trajectory that the piece shall follow.
author	Grisales V,Edgar A Quintero R,Héctor F Monroy J,Mauricio
author_facet	Grisales V,Edgar A Quintero R,Héctor F Monroy J,Mauricio
author_sort	Grisales V,Edgar A
title	Analysis of a planar manipulator operated by impulsion forces
title_short	Analysis of a planar manipulator operated by impulsion forces
title_full	Analysis of a planar manipulator operated by impulsion forces
title_fullStr	Analysis of a planar manipulator operated by impulsion forces
title_full_unstemmed	Analysis of a planar manipulator operated by impulsion forces
title_sort	analysis of a planar manipulator operated by impulsion forces
publisher	Universidad de Tarapacá.
publishDate	2016
url	http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052016000100004
work_keys_str_mv	AT grisalesvedgara analysisofaplanarmanipulatoroperatedbyimpulsionforces AT quinterorhectorf analysisofaplanarmanipulatoroperatedbyimpulsionforces AT monroyjmauricio analysisofaplanarmanipulatoroperatedbyimpulsionforces
_version_	1714203429444780032

Analysis of a planar manipulator operated by impulsion forces

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