Development of a Five-Bar Parallel Robot With Large Workspace

2010 ◽  
Author(s):  
Lucas Campos ◽  
Francis Bourbonnais ◽  
Ilian A. Bonev ◽  
Pascal Bigras
Keyword(s):  
Parallel Robot ◽  
Parallel Robots ◽  
Industrial Grade ◽  
Pick And Place

Five-bar planar parallel robots for pick and place operations are always designed so that their singularity loci are significantly reduced. In these robots, the length of the proximal links is different from the length of the distal links. As a consequence, the workspace of the robot is significantly limited, since there are holes in it. In contrast, we propose a design in which all four links have equal lengths. Since such a design leads to more parallel singularities, a strategy for avoiding them by switching working modes is proposed. As a result, the usable workspace of the robot is significantly increased. The idea has been implemented on an industrial-grade prototype and the latter is described in detail.

Kinematics and Stiffness Modeling of a 4-DOF Parallel Robot for Schönflies Motion Generation

2014 ◽  
Author(s):  
Shaoping Bai ◽  
Lasse Køgs Andersen ◽  
Carsten Rebbe Mølgaard
Keyword(s):  
Dynamic Performance ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Motion Generation ◽  
Stiffness Modeling ◽  
Pick And Place ◽  
Fea Simulation ◽  
Schönflies Motion ◽  
Pick And Place Operation ◽  
Good Agreement

This work deals with the design of parallel robots for the generation of pick-and-place operation, or Schönflies motion. The aim is to develop a robot with workspace optimized for fast pick-and-place operations, namely, a robot with a superellipsoidal reachable volume, which suits best for the pick-and-place operations on conveyers, where robots’ working areas are nearly rectangular. In this paper, the kinematics and stiffness modeling of the new robot are presented. A method of stiffness modeling by means of Castigliano’s Theorem is developed. Using the new method, the stiffness of the robot is analyzed. The results are compared with FEA simulation, which shows a good agreement between the results. The method is finally applied to the engineering design of the new robot for enhanced static and dynamic performance.

scholarly journals Design and Analysis of a Novel Schönflies Motion Parallel Robot with Full Cycle Rotation

2021 ◽  
Author(s):  
Luquan Li ◽  
Yuefa Fang ◽  
Lin Wang ◽  
Jiaqiang Yao
Keyword(s):  
Complex Dynamics ◽  
Virtual Work ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Parallel Robots ◽  
The Novel ◽  
Scara Robot ◽  
Pick And Place ◽  
Place Task ◽  
Schönflies Motion

Abstract Due to the complex structures of multi-limbed parallel robots, conventional parallel robots generally have limited workspace, complex kinematics, and complex dynamics, which increases the application difficulty of parallel robot in industrial engineering. To solve the above problems, this paper proposes a single-loop Schönflies motion parallel robot with full cycle rotation, the robot can generate Schönflies motion by the most simplified structure. The novel Schönflies motion parallel robot is a two-limb parallel mechanism with least links and joints, and each limb is driven by a 2-degree of freedom (DOF) cylindrical driver (C-driver). The full cycle rotation of the output link is achieved by “…R-H…” structure, where the revolute (R) and helical (H) joints are coaxial. Mobility, kinematics, workspace and singularity analysis of novel Schönflies motion parallel robot are analyzed. Then, dynamic model is formulated based on the principle of virtual work. Moreover, a pick-and-place task is implemented by proposed Schönflies motion parallel robot and a serial SCARA robot, respectively. The simulation results verify the correctness of the theoretical model. Furthermore, dynamics performances of Schönflies motion parallel robot and serial SCARA robot are compared, which reveal the performance merits of proposed Schönflies motion parallel robot.

scholarly journals Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots

2018 ◽  
Author(s):  
Tahir Rasheed ◽  
Philip Long ◽  
David Marquez-Gamez ◽  
Stéphane Caro
Keyword(s):  
Parallel Robot ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Static Equilibrium ◽  
Kinematic Redundancy ◽  
Pick And Place ◽  
Moving Platform ◽  
Three Degree Of Freedom

Mobile Cable-Driven Parallel Robots (MCDPRs) are special type of Reconfigurable Cable Driven Parallel Robots (RCDPRs) with the ability of undergoing an autonomous change in their geometric architecture. MCDPRs consists of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple Mobile Bases (MBs). Generally MCDPRs are kinematically redundant due to the additional mobilities generated by the motion of the MBs. As a consequence, this paper introduces a methodology that aims to determine the best kinematic redundancy scheme of Planar MCDPRs (PMCDPRs) with one degree of kinematic redundancy for pick-and-place operations. This paper also discusses the Static Equilibrium (SE) constraints of the PMCDPR MBs that are needed to be respected during the task. A case study of a PMCDPR with two MBs, four cables and a three degree-of-freedom (DoF) Moving Platform (MP) is considered.

Dynamic Analysis of a Parallel Pick-and-Place Robot With Flexible Links

2008 ◽  
Author(s):  
Haihong Li ◽  
Zhiyong Yang
Keyword(s):  
High Speed ◽  
Dynamic Performance ◽  
Lithium Ion ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Modeling And Analysis ◽  
Flexible Links ◽  
Pick And Place ◽  
Floating Frame ◽  
Pick And Place Operation

The dynamic modeling and analysis of a 2-DOF translational parallel robot for high-speed pick-and-place operation was presented. Considering the flexibility of all links, the governing equation of motion of a flexible link is formulated in the floating frame of reference using Euler-Lagrange method. A kineto-elasto dynamic model of the system is achieved, ready for modal analysis. Simulation in FEM software showed the similar modes with above computational result in typical location and rotation. The dynamic experiment presented the dominant modes and proved the theoretical analysis and simulation. The Diamond robot used in Lithium-ion battery sorting was taken as an example to demonstrate how to finish above studies. The result shows that the mechanism has good dynamic performance. The work is available for all parallel robots with flexible links.

Investigation on the Vibration of High Speed Cable Robot Manipulation due to Tension Around Drum

2019 ◽  
Author(s):  
Jinwoo Jung ◽  
Jinlong Piao ◽  
Eunpyo Choi ◽  
Jong-Oh Park ◽  
Chang-Sei Kim
Keyword(s):  
High Speed ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Rigid Base ◽  
Robot System ◽  
Vibration Problem ◽  
Cable Robot ◽  
Pick And Place ◽  
Flexible Cables ◽  
Pick And Place Operation

Abstract A cable-driven parallel robot (CDPR) consists of an end-effector, flexible lightweight cables, pulleys, winches, and a rigid base frame. As opposed to the rigid links of the traditional serial robots and parallel robots, the flexible lightweight cables allow the CDPR to easily achieve the high speed, heavy payload manipulation, and scalable workspace. Especially, the conventional high-speed pick and place operation can be realized due to the lightweight of its flexible cables. However, the flexibility of the lightweight cables can introduce a considerable vibration problem to the high speed cable robot system. One of main causes can be a cable tension difference between initial pre-tension and winding tension around a drum of the winch-motor actuator. To effectively investigate the effect of the tension around the drum on the high speed manipulation of the cable robot system, the spatial eight-cable high speed cable robot was reduced to the horizontal two cable system. The reduction of the number of the cable enables us to minimize the influences from the other factors such as the cable sagging and the geometric errors. A series of experiments was conducted using the combinations of the low and high initial pre-tensions and low and high tensions around the drum. The experimental results clearly show that the low tension around the drum can cause the vibration problem during the high speed pick and place operation. Also, it demonstrates that securing the drum tension similar to the initial pre-tension can effectively reduce the magnitude of the vibration.

A Method for Estimating Servomotor Parameters of a Parallel Robot for Rapid Pick-and-Place Operations

2004 ◽  
Vol 127 (4) ◽  
pp. 596-601 ◽  
Author(s):  
Tian Huang ◽  
Jiangping Mei ◽  
Zhanxian Li ◽  
Xueman Zhao ◽  
Derek G. Chetwynd
Keyword(s):  
High Speed ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Rechargeable Battery ◽  
Quality Inspection ◽  
Effective Manner ◽  
Pick And Place ◽  
The Moment ◽  
Object Of Study ◽  
Value Decomposition

By taking a 2-DOF high-speed translational parallel manipulator as an object of study, this paper presents an approach that enables the servomotor parameters of parallel robots for pick-and-place operations to be estimated in an effective manner using the singular value decomposition. These parameters include the moment of inertia, speed, torque, and power of the motor required for producing the specified velocity and acceleration of the end effector. An example is given to determine these parameters of a device for the rechargeable battery quality inspection.

Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations

2003 ◽  
Vol 126 (3) ◽  
pp. 449-455 ◽  
Author(s):  
Tian Huang ◽  
Zhanxian Li ◽  
Meng Li ◽  
Derek G. Chetwynd ◽  
Clement M. Gosselin
Keyword(s):  
Conceptual Design ◽  
High Speed ◽  
Parallel Robot ◽  
Rechargeable Batteries ◽  
Parallel Robots ◽  
Dimensional Synthesis ◽  
Long Distance ◽  
Conceptual Design Phase ◽  
Pick And Place ◽  
Index Subject

This paper deals with the conceptual design and optimal dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations. In a conceptual design phase, the conditions for generating such kinds of parallel robots are investigated, leading to the invention of a 2-D version of the Delta robot. Combining this robot with a 1-DOF feed mechanism, a hybrid robot can be created which is particularly suitable for transporting objects at very high speed in a plane plus a relatively slow or step-by-step, yet long distance motion, normal to the plane. The kinematic optimality of the 2-DOF translational parallel robot is achieved by minimizing a global and comprehensive conditioning index subject to a set of appropriate constraints. The application of this robot to the development of a device for quality inspection of rechargeable batteries is used to demonstrate its applicability.

Time Minimum Trajectory Planning of a 2-DOF Translational Parallel Robot for Pick-and-place Operations

CIRP Annals ◽  
2007 ◽  
Vol 56 (1) ◽  
pp. 365-368 ◽  
Author(s):  
T. Huang ◽  
P.F. Wang ◽  
J.P. Mei ◽  
X.M. Zhao ◽  
D.G. Chetwynd
Keyword(s):  
Trajectory Planning ◽  
Parallel Robot ◽  
Pick And Place

On Force and Motion Control of Serial-Parallel Robots

1996 ◽  
Author(s):  
Shih-Liang Wang
Keyword(s):  
Control Algorithm ◽  
Virtual Work ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Joint Torque ◽  
Compact Structure ◽  
Serial Robots ◽  
S Matrix ◽  
Serial Robot ◽  
Rate Control Algorithm

Abstract A serial-parallel robot has the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. In this paper, the resolved force control algorithm is derived for serial-parallel robots, including a 3-articulated-arm platform robot, a linkage robot, and two cooperating serial robots. A S matrix is derived to relate joint torque to the external load. Using the principle of virtual work, S is used in resolved rate control algorithm to relate the tool velocity to joint rate. S can be easily expanded to the control of redundant actuation, and it can be used to interpret singularity. MATLAB is used to verify these control algorithms with graphical motion animation.

Reduced Order Modeling and Direct Parameter Identification for a Complex Parallel Robot

2008 ◽  
Author(s):  
Jens Kroneis ◽  
Peter Mu¨ller ◽  
Steven Liu
Keyword(s):  
Parameter Identification ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Minimal Form ◽  
Linear Estimators ◽  
New Strategy ◽  
Reduction Methods ◽  
Verification Process ◽  
Dynamical Description ◽  
Solid Edge

In this paper a new strategy for dynamic modeling and parameter identification of complex parallel robots including parallel crank mechanisms is presented. Based on a model reduction strategy motivated by the structure of the parallel robot SpiderMill, kinematics and dynamics are derived in a compact form by applying the modified Denavit-Hartenberg method and the Newton-Euler approach. The obtained parameter-linear dynamical description is reduced to a parameter-minimal form using analytical and numerical reduction methods. Rigid body parameters of the model are identified using optimized trajectories and linear estimators. Through the whole modeling and verification process MSC.ADAMS and Solid Edge models of the demonstrator SpiderMill are used.

Sign in / Sign up

Export Citation Format

Share Document