Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator

Zhao, Yong; Xiao, Yong Fei; Chen, Tie

doi:10.4028/www.scientific.net/amm.313-314.937

Cited by 5 publications

(3 citation statements)

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“…From the performance features discussed above, the parallel link manipulator is most suited for a wide range of assembly, pick and place, and material handling applications with limited workspace which made the palletizing task a great fit for this study [17]. Conversely, the serial link manipulator dominates in most industrial applications [15] especially in manufacturing tasks that require high dexterity and speed such as welding, painting and parts-cutting and for this study the focus area was the geometric shape drawing.…”

Section: Introductionmentioning

confidence: 99%

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Kariuki,

Wanjau,

Muchiri

et al. 2023

Preprint

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The integration of robotics and image processing has led to the realization of robot autonomy in dynamic environments through the provision of visual feedback. This paper presents the application of parallel and open-link robots in palletizing and shape drawing tasks as enhanced by visual feedback from image processing. In determining the set of joint angles that could be used to reach the desired position and orientation of the end effector, the geometric approach in which the spatial geometry of the robotic arms was decomposed into several plane geometry problems was employed. Image processing techniques were used to enhance the performance of the robotic manipulators. In one approach, Color-based segmentation was used to distinguish between different objects in the workspace by using predefined color markers as references in the L*a*b color space. Classification of each pixel in the workspace image was then done by calculating the Euclidean distance between that pixel and a predefined color marker. A second approach employed Edge detection to identify the boundaries of objects within the workspace image by employing the Hough Transform mathematical model to detect the abrupt changes in the image brightness pixel-wise. The pixel locations from Hough were then sorted sequentially to outline the detected object. The integration of image processing with the robotic tasks was expected to improve the precise detection of the position of objects as well as the outline of geometric shapes. The incorporation of visual feedback allowed for dynamic robot manipulation in which prior knowledge of the workspace was not requisite. This led to improved pick and place as well as shape detection as applied in palletizing and shape drawing tasks actuated by the parallel and serial link manipulators, respectively.

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Section: Introductionmentioning

confidence: 99%

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Kariuki,

Wanjau,

Muchiri

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Additionally, in order to simplify the building process of kinematics equations, the way to treat the parallel structure of the robot as a whole and to replace it by the tandem structure was used to establish the kinematics model of the robot with application of D-H, and the inverse kinematics equations were also presented [4]. A 4-DOF palletizing robot manipulator was designed to meet the needs of high-speed palletizing in logistics automation industry and the forward kinematics model and inverse kinematics were introduced [5]. The joint displacements of 7-DOF hybrid robot were calculated with a kinematics modeling method based on the ST (spinor theory) named METM [6].…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot

Tao

Chen

Xiong

2014

Advances in Mechanical Engineering

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We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.

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“…Its material properties are shown in Table 3. 18 The steel tray platform component is very important for the parking equipment. Thus, ANSYS software is adopted to simulate its motion and load stress states to optimize the structure of the parking equipment.…”

Section: Deformation Of Steel Tray Platformmentioning

confidence: 99%

Structure design and kinematics simulation of a novel arm-type single stereo parking lot

Chu

Zhang

et al. 2015

Advances in Mechanical Engineering

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Space-saving, high-density stereo parking lots have gained considerable attention because of emerging limitations in ground and underground space. In this article, a novel arm-type single stereo parking lot is proposed to realize convenience and environmental friendliness. Many technical difficulties should be resolved before the safety performance of the stereo parking lot can be enhanced. Therefore, the structural characteristics, the load state and the motion situation should be analysed by numerical simulation to develop a reasonable design scheme. Finite element analysis was conducted on the steel tray platform, and kinematic analysis was performed on the end of novel arm-type single stereo parking lot. As a result, the position, velocity and acceleration curves as well as the maximum workspace were demonstrated by simulation in Pro/E. The simulation results demonstrate the correctness and accuracy of the stereo parking lot under motion mode feasible in residential areas and agency units and that the proposed parking lot can become popular in practice because of characteristics such as simplicity, convenience, easy development and promotion.

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Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator

Abstract: In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

Cited by 5 publications

References 0 publications

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Enhancing Palletizing and Shape Drawing Using Image Processing on Parallel and Serial Link Manipulators

Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot

Structure design and kinematics simulation of a novel arm-type single stereo parking lot

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