Please use this identifier to cite or link to this item: https://rda.sliit.lk/handle/123456789/1069
Full metadata record
DC FieldValueLanguage
dc.contributor.authorLiyanage, M. H-
dc.contributor.authorKrouglicof, N-
dc.contributor.authorGosine, R-
dc.date.accessioned2022-02-09T09:06:43Z-
dc.date.available2022-02-09T09:06:43Z-
dc.date.issued2011-05-09-
dc.identifier.citationM. H. Liyanage, N. Krouglicof and R. Gosine, "Development and testing of a novel high speed SCARA type manipulator for robotic applications," 2011 IEEE International Conference on Robotics and Automation, 2011, pp. 3236-3242, doi: 10.1109/ICRA.2011.5980452.en_US
dc.identifier.issn1050-4729-
dc.identifier.urihttp://rda.sliit.lk/handle/123456789/1069-
dc.description.abstractThis paper proposes using servo hydraulics for high speed robotic manipulation. It details the development of a novel double vane rotary type actuator custom designed for use in a Selective Compliant Assembly Robotic Arm (SCARA). The system, which is mathematically modeled and simulated, consists of an electro-hydraulic servo valve, double vane rotary actuator, manipulator and a controller. Based on the simulation results, hydraulic actuators were sized for optimal performance. A prototype of the proposed manipulator was built and tested. The test results show that the proposed actuator is capable of reaching torques of up to 860 Nm. The end effector of the manipulator is capable of reaching average velocities in excess of 2.7 ms -1 with a payload capability of 5.3 kg. Comparable performance is not feasible with contemporary SCARA type robots with electric motors.en_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2011 IEEE International Conference on Robotics and Automation;Pages 3236-3242-
dc.subjectDevelopmenten_US
dc.subjectnovel high speeden_US
dc.subjectSCARA type manipulatoren_US
dc.subjectrobotic applicationsen_US
dc.titleDevelopment and testing of a novel high speed SCARA type manipulator for robotic applicationsen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/ICRA.2011.5980452en_US
Appears in Collections:Research Papers
Research Papers - Department of Mechanical Engineering
Research Papers - SLIIT Staff Publications

Files in This Item:
File Description SizeFormat 
Development_and_testing_of_a_novel_high_speed_SCARA_type_manipulator_for_robotic_applications.pdf
  Until 2050-12-31
347.07 kBAdobe PDFView/Open Request a copy


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.