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The goal of this project is the development of techniques that helps address the design of pick-and-place machines. Pick-and-place, common in assembly and manufacturing tasks, refers to the action of retrieving a part at one location and transporting (and reorienting) it to a second location. Pick-and-place tasks have rigid end-of-motion requirements needing exact positions and orientations. Between these end configurations, the motion restrictions are less rigorous. This challenge is addressed via GCP and the development of new design theory. Geometric Constraint Programming (GCP), adept in addressing kinematic synthesis challenges, is the set of tools available in any CAD package that allows for the specification of relationships between line segments, while allowing the lengths of those line segments to be variable. New design theory has identified the equations that effectively describe pick-and-place problems and resulted in new solution methodologies.
Andrew P. Murray
Primary Advisor's Department
Mechanical and Aerospace Engineering
Stander Symposium project
"Four-bar Linkage Synthesis for A Combination of Motion and Path-point Generation" (2013). Stander Symposium Projects. 362.