Parts feeding on a conveyor with a one joint robot

S. Akella; W. H. Huang; K. M. Lynch; M. T. Mason

doi:10.1007/s004539910016

Parts feeding on a conveyor with a one joint robot

S. Akella^*, W. H. Huang, K. M. Lynch, M. T. Mason

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

88 Scopus citations

Abstract

This paper explores a method of manipulating a planar rigid part on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we develop a model of this system and of a variation which requires no sensing. We have been able to characterize these systems and to prove that they can serve as parts feeding devices for planar polygonal parts. We present the planners for these systems and describe our implementations.

Original language	English (US)
Pages (from-to)	313-344
Number of pages	32
Journal	Algorithmica (New York)
Volume	26
Issue number	3-4
DOIs	https://doi.org/10.1007/s004539910016
State	Published - 2000

Keywords

Automation
Manipulation
Manufacturing
Mechanics
Minimalism
Parts feeding
Planning
Robotics

ASJC Scopus subject areas

General Computer Science
Computer Science Applications
Applied Mathematics

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10.1007/s004539910016

Cite this

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AU - Huang, W. H.

AU - Lynch, K. M.

AU - Mason, M. T.

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AB - This paper explores a method of manipulating a planar rigid part on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we develop a model of this system and of a variation which requires no sensing. We have been able to characterize these systems and to prove that they can serve as parts feeding devices for planar polygonal parts. We present the planners for these systems and describe our implementations.

KW - Automation

KW - Manipulation

KW - Manufacturing

KW - Mechanics

KW - Minimalism

KW - Parts feeding

KW - Planning

KW - Robotics

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Parts feeding on a conveyor with a one joint robot

Abstract

Keywords

ASJC Scopus subject areas

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