RoboTenis: Optimal design of a parallel robot with high performance

Luis Angel Silva, J. M. Sebastian, R. Saltaren, R. Aracil, J. Sanpedro

    Producción científica: Capítulo del libro/informe/acta de congresoPonencia publicada en las memorias del evento con ISBNrevisión exhaustiva

    21 Citas (Scopus)

    Resumen

    This paper presents the design of a parallel robot that will be used to play table tennis. The object of this application is to evaluate the level of integration between high-speed robotic systems and vision systems in unknown and dynamic environments. The parallel robot is based on a DELTA robot. The optimization method uses a global condition index based on the condition number of the Jacobian matrix. Firstly, we present the geometric model and kinematic analysis of the parallel robot. The optimization defines the dimensions of the manipulator. Using ADAMS®, we obtain the maximum speed of the end-effector and the maximum torque of the motors for a set of typical trajectories of the ball in table tennis. Finally, we display the prototype of the built manipulator.

    Idioma originalInglés
    Título de la publicación alojada2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    EditorialIEEE Computer Society
    Páginas2134-2139
    Número de páginas6
    ISBN (versión impresa)0780389123, 9780780389120
    DOI
    EstadoPublicada - 2005

    Serie de la publicación

    Nombre2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

    Huella

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