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.
Skip Nav Destination
Article navigation
September 1995
Research Papers
A Two-Dimensional Formulation for Path-Placement in the Workcells of Planar 3-R Robots
N. A. Soman,
N. A. Soman
Center for Technology, Policy & Industrial Development, Massachusetts Institute of Technology, Cambridge, MA 02139
Search for other works by this author on:
J. K. Davidson
J. K. Davidson
Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ 85287-6106
Search for other works by this author on:
N. A. Soman
Center for Technology, Policy & Industrial Development, Massachusetts Institute of Technology, Cambridge, MA 02139
J. K. Davidson
Department of Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ 85287-6106
J. Mech. Des. Sep 1995, 117(3): 479-484 (6 pages)
Published Online: September 1, 1995
Article history
Received:
June 1, 1994
Revised:
May 1, 1995
Online:
December 11, 2007
Citation
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
Download citation file:
Get Email Alerts
Cited By
Design of Digital Twin Sensing Strategies Via Predictive Modeling and Interpretable Machine Learning
J. Mech. Des (September 2022)
Mobility Prediction of Off-Road Ground Vehicles Using a Dynamic Ensemble of NARX Models
J. Mech. Des (September 2022)
Related Articles
A Synthesis Method For Placing Workpieces In RPR Planar Robotic Workcells
J. Mech. Des (June,1998)
A New Method to Analyze Spatial Binary Mechanisms With Spherical Pairs
J. Mech. Des (April,2007)
On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems
J. Mechanisms Robotics (November,2010)
A Geometric Path Planner for Car-like Robots
J. Mech. Des (September,2000)
Related Proceedings Papers
Related Chapters
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution