A new systematic formulation is presented that determines suitable locations for a workpiece, and its associated task-motion, in the workspace of a three-hinged planar (SCARA) robotic workcell. It determines all acceptable positions for the first joint of the robot relative to the workpiece; therefore, all solutions are represented as an area in two dimensions, unlike existing methods of motion-planning that present them as a volume in a three-dimensional joint-space for the same planar robot. This simplifies the solution-space by reducing its dimension from three to two. All possible acceptable designs appear in a graphical form that can be readily visualized and directly measured in a Cartesian frame of reference in the workcell. Applications include locating workpieces with tool-paths for fusion welding and for deposition of adhesives.
A Two-Dimensional Formulation for Path-Placement in the Workcells of Planar 3-R Robots
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Soman, N. A., and Davidson, J. K. (September 1, 1995). "A Two-Dimensional Formulation for Path-Placement in the Workcells of Planar 3-R Robots." ASME. J. Mech. Des. September 1995; 117(3): 479–484. https://doi.org/10.1115/1.2826703
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