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

Abstract

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.

D2 Delta Robot Structural Design and Kinematics Analysis

“…In the design of the slave arms, we used the form of the crank arm. Compared with the straight arm in reference [4], reducing the occurrence of institutional stuck. In order to enable us to achieve precise control of Robot, the kinematics analysis and mathematical modeling of the robot are carried out.…”

“…Through the analysis of the actual institutions, set the the limit position of the left active arm of the robot is 4 (rad) and − 2 (rad), the limit position of the right active arm of the robot is 2 (rad) and − 4 (rad). According to the set of two active arm rotation angle limit, combined with forward kinematics model, we can get the work space of the end effector, as shown in Figure 14.…”

“…In the reference [4], a two-degree-of-freedom Delta robot for the grab product is introduced in detail, from concept design to kinematics modeling, and finally the robot is applied to the device for detecting the quality of the battery. In the reference [5], the kinematic parameters of the mechanism are optimized by analyzing the singularity of the Delta parallel robot and the analysis of the working space, and the dynamic analysis of the mechanism is carried out by the Newton-Euler method.…”

Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

“…These indicators are powerful for the planar mechanism [26] with clear significance. Huang et al [27] evaluated the performance of a two DOFs translational parallel manipulator with the transmission angle. The sine value of the transmission angle is adopted to develop a global force transmission index, and has been applied to performance analysis of the planar 5R parallel manipulator [28].…”

Dynamic performance evaluation for a 3UPS-PRU parallel robot

“…Many investigations have been carried out on the kinematic performance evaluation and the rigid-body dynamic performance evaluation. The criteria used for the kinematic performance evaluation of the parallel robots are usually isotropy, [10][11][12][13] manipulability, 14,15 transmission, 16,17 work space, 10,[18][19][20][21][22] singularity, 17,[20][21][22] and so on. Due to the generalized dual relationship between kinematics and statics, some kinematic performance indices can be redefined and used for the evaluation of static property.…”