Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations
This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.
Keywordsspatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification
This work was supported by the National Natural Science Foundation of China (Grant No. 51425501), and by the Beijing Municipal Science & Technology Commission (Grant No. Z17110000 0817007). The second author wishes to acknowledge the support provided by the Alexander von Humboldt (AvH) Foundation.
- 1.Pierrot F, Company O. H4: A new family of 4-DOF parallel robots. In Proceedings of 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Atlanta: IEEE, 1999, 508–513Google Scholar
- 4.Angeles J, Morozov A, Navarro O. A novel manipulator architecture for the production of SCARA motions. In: Proceedings of IEEE International Conference on Robotics and Automation. San Francisco: IEEE, 2000, 3: 2370–2375Google Scholar
- 5.Ancuta A, Company O, Pierrot F. Design of Lambda-Quadriglide: A new 4-DOF parallel kinematics mechanism for Schönflies motion. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Quebec: ASME, 2010, 1131–1140Google Scholar
- 7.Wu G. Kinematic analysis and optimal design of a wall-mounted four-limb parallel Schönflies-motion robot for pick-and-place operations. Journal of Intelligent & Robotic Systems, 2016, 86(3–4): 663–677Google Scholar
- 8.Kim S M, Kim W, Yi B J. Kinematic analysis and optimal design of a 3T1R type parallel mechanism. In Proceedings of IEEE International Conference on Robotics and Automation. Kobe: IEEE, 2009, 2199–2204Google Scholar
- 12.Clavel R. US Patent, 4976582, 1990-12-11Google Scholar
- 13.HelloTrade. ABB IRB 340 FlexPicker robots. Retrieved from http://www.hellotrade.com/auctelia/6-new-abb-irb-340-flexpicker-robots.html, 2017-1-25Google Scholar
- 14.Krut S, Company O, Nabat V, et al. Heli4: A parallel robot for SCARA motions with a very compact traveling plate and a symmetrical design. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing: IEEE, 2006, 1656–1661Google Scholar
- 15.Krut S, Nabat V, Company O, et al. A high-speed parallel robot for SCARA motions. In Proceedings of IEEE International Conference on Robotics and Automation. New Orleans: IEEE, 2004, 4109–4115Google Scholar
- 16.Nabat V, Rodriguez M D L O, Company O, et al. Par4: Very high speed parallel robot for pick-and-place. In Proceedings of IEEE/ RSJ International Conference on Intelligent Robots and Systems. Edmonton: IEEE, 2005, 553–558Google Scholar
- 18.Pierrot F, Marquet F, Company O, et al. H4 parallel robot: Modeling, design and preliminary experiments. In Proceedings of IEEE International Conference on Robotics and Automation. Seoul: IEEE, 2001, 3256–3261Google Scholar
- 19.Choi H B, Company O, Pierrot F, et al. Design and control of a novel 4-DOFs parallel robot H4. In Proceedings of IEEE International Conference on Robotics and Automation. Taipei: IEEE, 2003, 1185–1190Google Scholar
- 27.Blanding D L. Exact Constraint: Machine Design Using Kinematic Processing. New York: ASME Press, 1999Google Scholar
Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the appropriate credit is given to the original author(s) and the source, and a link is provided to the Creative Commons license, indicating if changes were made.