Optimization of KNTU Delta robot for pick and place application

2015 ◽  
Author(s):  
Amin Khorasani ◽  
Soheil Gholami ◽  
Hamid D. Taghirad
Keyword(s):  
Pick And Place ◽  
Delta Robot

Development of Pick and Place Delta Robot

2020 ◽  
pp. 475-486
Author(s):  
Supod Kaewkorn ◽  
Chanin Joochim ◽  
Phongsak Keeratiwintakorn ◽  
Alisa Kunapinun
Keyword(s):  
Pick And Place ◽  
Delta Robot

Asymmetric Arm Design on Delta Robot System

2014 ◽  
Author(s):  
Tsung-Liang Wu ◽  
Jih-Hsiang Yeh ◽  
Cheng-Chen Yang
Keyword(s):  
Energy Saving ◽  
High Speed ◽  
Kinematic Model ◽  
Industrial Applications ◽  
Critical Parameters ◽  
Robot System ◽  
System Cost ◽  
Excited Vibration ◽  
Pick And Place ◽  
Delta Robot

The Delta robot system is widely used in high speed (4 cycles/s at 25-200-25 mm) pick-and-place process in production line. Some industrial applications include photo-voltaic (PV), food process, and electronic assembly, and so on. The energy saving and system cost are two critical parameters for designing the next generation of pick-and-place system. To achieve these goals, a light-weight moving structure with sufficient strength to overcome the excited vibration will be one of the solutions. In this paper, an asymmetric arm design is proposed and fabricated to gain the benefit of strength-to-weight. The asymmetric arm is designed by reinforcing a specific direction and is validated the vibration suppression capability both by simulation and experiment. A position controller that is derived from the kinematic model of Delta robot is utilized to manipulate the robot under a forward-backward motion with a polynomial trajectory with 200 mm displacement. The residual vibration, then, was measured after the forward-backward motion to compare the settling performance between symmetric- and asymmetric-arms on the Delta robot system, respectively. The results conclude as following: (1) The asymmetric arms perform slightly worse (0.03 sec more in settling time) than symmetric arm but there is 15% weight reducing comparing to symmetric arm. (2) Both energy saving and system cost reducing would be achieved by utilizing actuators with lower power consumption and fabrication on carbon fiber arms with mass customization.

Delta Parallel Robot Based on Crank-Slider Mechanism

2017 ◽  
Vol 6 (2) ◽  
pp. 112
Author(s):  
Zhe Qin ◽  
Xiao-Chu Liu ◽  
Zhuan Zhao
Keyword(s):  
Parallel Robot ◽  
Force Transmission ◽  
Practical Application ◽  
Cartesian Space ◽  
Output Torque ◽  
Performance Indexes ◽  
Pick And Place ◽  
Delta Robot ◽  
Three Degree Of Freedom ◽  
Pick And Place Operation

A three-degree-of-freedom Delta parallel manipulator driven by a crank-slider mechanism is proposed. In Cartesian space, a gate-shaped curve is taken as the path of the pick-and-place operation, combining with the inverse kinematics theory of the Delta robot, and a mathematical model of robot statia force transmission is established. The force and the output torque of the robot-driven joint are taken as the main performance indexes, and the value of the crank-slider mechanism applied to Delta robot is further measured. The simulation results show that the delta robot driven by the crank slider mechanism can reduce the force and output torque of the driving joint during the picking and discharging operation, and has good practical application value.

The Influence of Partial Force Balancing on the Shaking Moments, Contact Forces, and Precision of a Delta Robot-Like Manipulator in a Compliant Frame

2018 ◽  
Author(s):  
Jan J. de Jong ◽  
J. P. Meijaard ◽  
Volkert van der Wijk
Keyword(s):  
High Speed ◽  
Contact Forces ◽  
Force Balance ◽  
Dynamic Loads ◽  
Accuracy Improvement ◽  
End Effector ◽  
Pick And Place ◽  
Delta Robot ◽  
Full Force ◽  
Typical Design

For the Delta robot, a high-speed parallel pick-and-place manipulator, base vibrations are a significant problem. Especially since the Delta robot is suspended above its workpiece, it requires a large, stiff, and heavy base frame for fast and accurate motions. Dynamic balancing of the shaking forces and the shaking moments is a known technique to reduce the dynamic loads on the base frame and to the surroundings. In this paper it is investigated how solely with partial force balancing, dynamic loads and pick-and-place accuracy of a Delta robot-like manipulator can be improved, considering also the compliance of the base frame. This is done since partial force balance solutions can be implemented relatively simply in the current Delta robot designs, whereas full force and moment balance solutions are complex to apply in practice. Numerical simulations with a representative planar model of a Delta robot-like manipulator with a compliant base frame show that with an increasing amount of force balance the shaking moments increase up to 16% for full force balance. The floor contact forces first reduce and then increase with increasing force balance. With 43% force balance the floor contact forces are minimal, giving a 63% reduction. The end-effector accuracy slightly improves with increasing force balance until full force balance yields a 31% accuracy improvement. A further increase of the force (over) balance shows a 59% improvement of end-effector accuracy for 350% force balance. These effects are mainly due to the typical design of the Delta robot base frame and the way the robot is mounted to it.

Trajectory Planning of Delta Robot for Dynamic Tracking, Pick and Placement

2013 ◽  
Vol 680 ◽  
pp. 473-478 ◽  
Author(s):  
Guang Feng Chen ◽  
Lin Lin Zhai ◽  
Lei Li ◽  
Jia Wen Shi
Keyword(s):  
Target Position ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Control Points ◽  
Practical Action ◽  
Dynamic Tracking ◽  
Key Points ◽  
Pick And Place ◽  
Delta Robot ◽  
The Right

This paper focus on the trajectories planning for Delta robot, which is used to dynamic tracking, pick and place workpiece on packing line. According to the practical action requirements, defined the desired path for end actuator in Cartesian space. The control trajectories are divided into several line segments. For each section, the control points are calculated with the modified sine computing terminal trajectory. To tracking the workpiece on conveyor, a mathematical models is developed to describe the target position and limitation of robot hardware. Newton's method is adopt to solve the model. Through calculating the right angle coordinate system of key points with inverse kinematic in joint space, generating a feasible motion control track. A demo trajectory is generated to verify the feasibility of the scheme.

scholarly journals Reducing the Frame Vibration of Delta Robot in Pick and Place Application: An Acceleration Profile Optimization Approach

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Hongtai Cheng ◽  
Wei Li
Keyword(s):  
Surrogate Model ◽  
High Speed ◽  
Gaussian Process Regression ◽  
Frame Structure ◽  
Manufacturing Cost ◽  
Optimization Approach ◽  
Pick And Place ◽  
Delta Robot ◽  
Profile Optimization ◽  
Acceleration Profile

Delta robot is typically mounted on a frame and performs high speed pick and place tasks from top to bottom. Because of its outstanding accelerating capability and higher center of mass, the Delta robot can generate significant frame vibration. Existing trajectory smoothing methods mainly focus on vibration reduction for the robot instead of the frame, and modifying the frame structure increases the manufacturing cost. In this paper, an acceleration profile optimization approach is proposed to reduce the Delta robot-frame vibration. The profile is determined by the maximum jerk, acceleration, and velocity. The pick and place motion (PPM) and resulting frame vibration are analyzed in frequency domain. Quantitative analysis shows that frame vibration can be reduced by altering those dynamic motion parameters. Because the analytic model is derived based on several simplifications, it cannot be directly applied. A surrogate model-based optimization method is proposed to solve the practical issues. By directly executing the PPM with different parameters and measuring the vibration, a model is derived using Gaussian Process Regression (GPR). In order to reduce the frame vibration without sacrificing robot efficiency, those two goals are fused together according to their priorities. Based on the surrogate model, a single objective optimization problem is formulated and solved by Genetic Algorithm (GA). Experimental results show effectiveness of the proposed method. Behavior of the optimal parameters also verifies the robot-frame vibration mechanism.

A Comparative Study on the Pick-and-Place Trajectories for a Delta Robot

2016 ◽  
Author(s):  
Zexiao Xie ◽  
Peixin Wu ◽  
Ping Ren
Keyword(s):  
Comparative Study ◽  
High Speed ◽  
Computation Time ◽  
Optimization Methods ◽  
Terminal State ◽  
Industrial Robots ◽  
Piecewise Polynomials ◽  
Pick And Place ◽  
Dynamic Performances ◽  
Delta Robot

A comparative study on the pick-and-place trajectories for high-speed Delta robots is presented in this paper. The Adept Cycle has been widely accepted as a standardized pick-and-place trajectory for industrial robots. The blending curves and optimization methods to smooth this trajectory are briefly surveyed. Three major types of trajectories: Lamé curves, clothoids and piecewise polynomials, are selected as candidates to be compared. The processes to generate these trajectories are briefly reviewed. The trajectories are firstly compared in term of their computation time. Then, based on a dynamic model and an experimental prototype of the Delta robot, different combinations of the geometric paths and motion profiles are compared in terms of power consumption, terminal state accuracy and residual vibration. The effects of trajectory configurations and parameters on the robot’s dynamic performances are investigated. Through a comprehensive analysis on both simulation and experimental results, a near-optimal pick-and-place trajectory for the Delta robot is identified and validated.

scholarly journals Investigation of Using ANN and Stereovision in Delta Robot for Pick and Place Applications

2021 ◽  
Vol 8 (5) ◽  
pp. 682-688
Author(s):  
Abdelrahman Youssef ◽  
Amgad M. Bayoumy ◽  
Mostafa R.A. Atia
Keyword(s):  
Pick And Place ◽  
Delta Robot

scholarly journals Application Value of Slider-Crank Mechanism in Pick-and-Place Operation of Delta Robot

2018 ◽  
Vol 153 ◽  
pp. 02005
Author(s):  
QIN Zhe ◽  
LIU Xiao-chu ◽  
ZHAO Zhuan ◽  
XIAO Jin-rui
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Simulation Analysis ◽  
Solution Theory ◽  
Cartesian Space ◽  
Pick And Place ◽  
Common Gate ◽  
Delta Robot ◽  
Pick And Place Operation ◽  
Crank Mechanism

By absorbing the advantages of the rotary-driven Delta robot and linear-driven Delta robot, a Delta robot for pick-and-place operation that forms a crank-slider at the drive joint is designed.To take the most common gate shaped curve in Cartesian space as the motion trail of robotic pick-and-place operation, according to the kinematics inverse solution theory of Delta robot, this thesis mainly solves the output angular velocity of robot-driven joint. Establishing the static transfer mathematical model and solving the forced condition of driving joint. The simulation analysis show that after the upper slider-crank mechanism is connected to the driving joint, the angular velocity of the driving joint changes suddenly, which caused a rigid impact on the robot in the picking and releasing operation, though the force of the driving joint can be made smaller.

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