A 4-DoF Parallel Robot With a Built-in Gripper for Waste Sorting

Abstract

This article presents a new robot concept dedicated to fast and energy-efficient waste sorting applications. This parallel robot can provide at the same time the three translations in space (3-DoF) and the opening/closing of a built-in gripper (1 additional DoF). The movement of the clamp is enabled thanks to a configurable platform at the end of the parallel structure. This platform is composed of a two-gear train gripper which is directly controlled by the 4 actuators attached to the base of the manipulator. The inverse kinematic as well as the differential models have been developed. A first prototype has been realized to validate this new parallel architecture for pick-and-toss tasks.

Artificial intelligence for waste management in smart cities: a review

“…Adjust the gripper 2. No need for additional electrical gas or pneumatic connection to drive the gripper Three pannings and angle grabs Leveziel et al ( 2022 ); Liu et al ( 2021a ); Yang et al ( 2022b ) Predictive model for waste production Predictor exclusivity Integrated empirical pattern decomposition 1. High-precision municipal solid waste prediction model was obtained 2.…”

“…Researchers are currently investigating methods of integrating waste-sorting robots into existing waste management systems, such as utilizing robots to sort waste before it is sent to landfills. In this regard, studies have suggested a parallel robot model, with the primary concept revolving around a gripper that is fully integrated into a 4-degree-of-freedom similar robot structure (Leveziel et al 2022 ). Researchers are also exploring using visual sensors to improve the performance of waste-sorting robots.…”