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Automation of a complex transfer operation using a polar manipulator

Dalvand, Mohsen Moradi 2009, Automation of a complex transfer operation using a polar manipulator, Assembly automation, vol. 29, no. 1, pp. 68-71.

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Title Automation of a complex transfer operation using a polar manipulator
Author(s) Dalvand, Mohsen Moradi
Journal name Assembly automation
Volume number 29
Issue number 1
Start page 68
End page 71
Total pages 4
Publisher Emerald Group Publishing
Place of publication Bingley, England
Publication date 2009
ISSN 0144-5154
Keyword(s) kinematics
dynamics
robotics
trajectories
Summary Purpose – The objective of this paper included developing a polar robot (SPBot) for rotating and transferring car engine block (CEB) around and along two different axes in a confined workspace envelope.

Design/methodology/approach – The complex transfer operations of the CEB requires sweeping complete surface of the half sphere, and thus a polar robot is best suited to such a task in a confined space. Considering the limited space for this operation, a specially designed manipulator is built comprising 2 degrees of freedom driven by electrical servo motors. Also due to the special form of CEB, an especially designed pneumatic gripper is developed. Kinematics models, static and dynamic equations, together with trajectory planning for such a manipulator are described.

Findings –
The high-speed complex transfer in a limited environment is successfully implemented.

Originality/value – The developed polar robot provides for complex transfer operations that significantly increases the speed of the product line and thus reducing the cycle time from 60?s using manpower to just 20?s using the robot.
Language eng
Field of Research 091302 Automation and Control Engineering
091304 Dynamics, Vibration and Vibration Control
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1.1 Refereed article in a scholarly journal
Copyright notice ©2009, Emerald
Persistent URL http://hdl.handle.net/10536/DRO/DU:30056240

Document type: Journal Article
Collections: Centre for Intelligent Systems Research
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.