Kinematic Sensitivity Evaluation of Revolute and Prismatic 3-DOF Delta Robots

Mehrafrooz, Behzad; Mohammadi, Mohsen; Masouleh, Mehdi Tale

doi:10.1109/icrom.2017.8466159

Cited by 8 publications

(4 citation statements)

References 17 publications

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“…There is extensive literature analyzing rigid delta robots [18,19], but the manufacturing of flexible delta robots through 3D printing introduces significant changes to the kinematics. We approximate each universal joint in the delta with an orthogonal pair of revolute joints that are separated by a small offset k as labelled in Figure 2.…”

Section: Delta Modelingmentioning

confidence: 99%

A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation

Mannam¹,

Rudich²,

Zhang³

et al. 2021

Robotics: Science and Systems XVII

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Traditional parallel-jaw grippers are insufficient for delicate object manipulation due to their stiffness and lack of dexterity. Other dexterous robotic hands often have bulky fingers, rely on complex time-varying cable drives, or are prohibitively expensive. In this paper, we introduce a novel low-cost compliant gripper with two centimeter-scaled 3-DOF delta robots using offthe-shelf linear actuators and 3D-printed soft materials. To model the kinematics of delta robots with soft compliant links, which diverge from typical rigid links, we train neural networks using a perception system. Furthermore, we analyze the delta robot's force profile by varying the starting position in its workspace and measuring the resulting force from a push action. Finally, we demonstrate the compliance and dexterity of our gripper through six dexterous manipulation tasks involving small and delicate objects. Thus, we present the groundwork for creating modular multi-fingered hands that can execute precise and lowinertia manipulations.

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Section: Delta Modelingmentioning

confidence: 99%

A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation

Mannam¹,

Rudich²,

Zhang³

et al. 2021

Robotics: Science and Systems XVII

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“…The delta robot is constructed with three parallel arms, which can move in 3-DoF freely. Some delta robot configurations developed by researchers are parallelogram limbs [1][2], prismatic joints [3], and spherical magnetic joints [4]. The development of the delta robot needs to consider kinematics and the Graphical User Interface (GUI), besides construction.…”

Section: Introductionmentioning

confidence: 99%

The Graphical User Interface for Controlling Delta Robot Movement through G-Code

Analia,

Gozali,

Sipahutar

et al. 2023

Proceedings of the 5th International Conference on Applied Engineering, ICAE 2022, 5 October 2022, Batam, Indonesia

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This research aims to develop a Graphical User Interface (GUI) to control the delta robot using the G-Code command in real time. The proposed mechanical design of the delta robot adopts a parallel arm mechanism. As the primary controller, the Arduino Uno has been chosen as a bridge to translate the joint command from the computer to the robot stepper motor. Furthermore, we proposed the G-Code command to control the delta robot end effector. The system interface was carried out using the C# programming language and the.NET frameworks. As G-Code translation, we proposed an inverse kinematics equation derived from a trigonometric to decode command into joint movement. Finally, the experiment was carried out in real-time to verify our interface. As an experimental result, the proposed system successfully translates the G-Code command into end effector movement.

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“…The delta robot, known as a parallel or closed-loop manipulator, is usually composed of three parallel links in a combination of either revolute-revolute joints [8], [9] or prismatic-revolute joints [10], [11]. Several advantages of most delta robots over the conventional serial manipulators are 1) fast motion of its end effector, 2) motion accuracy and repeatability, and 3) large payload-capacity to body-weight ratio since driven actuators are fixed on the base plate and only light-weight linkages are moved.…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

Yamtuan,

Radomngam,

Prempraneerach

2023

Journal of Robotics and Control

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Industrial delta robots with motion-and vision-base controllers, providing high-precision and fast/flexible motion, normally come with high cost and complex software. Low-cost delta robots with vision solution could be beneficial to vast industries to increase productivity and to reduce labor cost. A delta robot using a low-cost motion controller and an open-source vision system is developed to accomplish real-time visual servoing with high motion accuracy. In the low-cost motion controller, three parallel links’ upper-arm angles, computed from inverse kinematics for a given desired target position by a high-level computer, are used as reference position commands for three AC-motor drives. A low-level Arduino microcontroller is employed to convert these links’ angles to high-frequency pulses and on-off signals for synchronously controlling three motor angles and direction. Experimental results of a point-to-point motion tracking exhibit high-precision repeatability. Synchronous pulse generation from Arduino microcontroller and structural misalignments of parallel links are major challenges for achieving high motion accuracy. For the vision-based system, the YOLOv5 algorithm is implemented along with a Python GUI Application. Then, the visual-servo performance is evaluated on localization accuracy and recognition rate of 3-color objects. However, a partial object occlusion can reduce the visual classification rate. A sorting task of 4-category medicine boxes demonstrate a high-speed pick-and-place operation using the low-cost visual-servo system of this delta robot. Therefore, integration of low-cost visual servoing with this delta robot can revolutionize various industries, like automobile, pharmaceutical, and food sectors, in separating, sorting and packing applications.

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Kinematic Sensitivity Evaluation of Revolute and Prismatic 3-DOF Delta Robots

Cited by 8 publications

References 17 publications

A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation

A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation

The Graphical User Interface for Controlling Delta Robot Movement through G-Code

Visual Servo Kinematic Control of Delta Robot using YOLOv5 Algorithm

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