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Technical Brief

Novel Robotic Manipulator With Four Screws for Automated Storage and Retrieval System

[+] Author and Article Information
Dan Wang, An Mo, Te Shan

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;
Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China

Wenzeng Zhang

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;
Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China;
State Key Laboratory of Tribology,
Tsinghua University,
Beijing 100084, China

Zhenguo Sun

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;
Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China
e-mail: sunzhg@mail.tsinghua.edu.cn

Qiang Chen

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;
Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China;
Yangtze Delta Region Institution of Tsinghua University,
Zhejiang 314006, China

1Corresponding author.

Manuscript received July 9, 2014; final manuscript received June 23, 2015; published online August 18, 2015. Assoc. Editor: Satyandra K. Gupta.

J. Mechanisms Robotics 8(1), 014501 (Aug 18, 2015) (6 pages) Paper No: JMR-14-1161; doi: 10.1115/1.4030985 History: Received July 09, 2014

With a new perspective, this paper integrates the concept of automated storage and retrieval system (AS/RS) in production and distribution with high-throughput screening (HTS) system and strikes out a new path in designing AS/RS in biological and medical laboratories. Robotic manipulators are used in AS/RSs to pick-and-place objects. Robot hands are proper to fulfill this function, whereas they are complex in mechanical control system. In this paper, a novel four-screw robotic (FSR) manipulator is presented. Kinematics and dynamics framework of the FSR manipulator is given.

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References

Figures

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Fig. 1

Schematic diagram of FSR manipulator

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Fig. 2

FSR system: 1—base, 2—first motor, 3—active screw, 4—first passive screw, 5—second passive screw, 6—third passive screw, 7—microplate, 8—rack, 9—carrier, 10—first active pulley, 11—first belt, 12—first passive pulley, 13—second active pulley, 14—second passive pulley, 15—second belt, 16—third active pulley, 17—third belt, 18—third passive pulley, 19—second motor, 20—object, and 21—pallet

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Fig. 3

Motion process of FSR system

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Fig. 4

Geometrical relationship of screws and pallet

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Fig. 5

Helicoids in a screw of the FSR system

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Fig. 6

Intersections of plane M and helicoids

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Fig. 7

Relationships of x, y0, and α

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Fig. 8

Relationships of Δ, y0, and hp

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Fig. 9

Force analysis of screws

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Fig. 14

Operation interface of the FSR system

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Fig. 13

Motion process of the FSR system

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Fig. 12

Structure of the FSR system: 1—computer, 2—step motor driver, and 3—USB to RS485 converter

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Fig. 11

Simulation of the middle process: (a) stress of screw and (b) displacement of screw

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Fig. 10

Relationship of T, ψ, and n

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