A Class of Double-Delta-Based 6-DOF Pick-and-Place Robots with Integrated Grippers

被引：0
|
作者：
Jin, Xiaodong [1 ]
Fang, Yuefa [1 ]
Zhao, Fuqun [1 ]
机构：
[1] Beijing Jiaotong Univ, Beijing 100044, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT IV | 2021年 / 13016卷
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Pick-and-place; Delta robot; Parallel mechanism; Integrated gripper; PARALLEL MECHANISMS; LIE GROUP; 4-DOF; DESIGN;
D O I：
10.1007/978-3-030-89092-6_22
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The pick-and-place robots with high speed, high precision and high carrying capacity are demanded in industry and logistics. However, there are few 6-DOF parallel mechanisms that can be used for grasping and sorting. In order to design 6-DOF high performance parallel robots for the above purpose, a structural synthesis method is presented. First, the articulation modes of the APM with integrated grippers are determined based on the motion transmission characteristics of the common single-DOF grippers, and the required motion type of the limbs is obtained by velocity vector mapping analysis. Subsequently, a class of double-Delta-based robots with four types of grippers is presented, and their DOF are verified and demonstrated by means of the displacement group theory. The proposed robots have the characteristics of high speed, large workspace of the Delta robot, as well as high carrying capacity and grasping force, which are suitable for high performance pick-and-place applications.
引用
收藏
页码：236 / 245
页数：10
相关论文
共 30 条
  • [1] Vision servo based Delta robot to pick-and-place moving parts
    Lin, Chih-Jer
    Shaw, J.
    Tsou, Pei-Che
    Liu, Chung-Chi
    PROCEEDINGS 2016 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2016, : 1626 - 1631
  • [2] Integrated design of a 4-DOF high-speed pick-and-place parallel robot
    Li, Y. H.
    Ma, Y.
    Liu, S. T.
    Luo, Z. J.
    Mei, J. P.
    Huang, T.
    Chetwynd, D. G.
    CIRP ANNALS-MANUFACTURING TECHNOLOGY, 2014, 63 (01) : 185 - 188
  • [3] The Simulation Study of Optimization of Pick-and-Place Route for Delta Robot based on Lame Curves
    Chen, Zhiwei
    Xu, Shixu
    Wu, Jingwen
    Geng, Yanlong
    PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 467 - 471
  • [4] Calibration of 6-DOF industrial robots based on line structured light
    Xie, Zexiao
    Zong, Pengfei
    Yao, Peng
    Ren, Ping
    OPTIK, 2019, 183 : 1166 - 1178
  • [5] Model-Free Dynamic Control of a 3-DoF Delta Parallel Robot for Pick-and-Place Application based on Deep Reinforcement Learning
    Jalali, Hasan
    Samadi, Saba
    Kalhor, Ahmad
    Masouleh, Mehdi Tale
    2022 10TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2022, : 48 - 54
  • [6] Pythagorean-Hodograph curves-based trajectory planning for pick-and-place operation of Delta robot with prescribed pick and place heights
    Su, Tingting
    Liang, Xu
    Zeng, Xiang
    Liu, Shengda
    ROBOTICA, 2023, 41 (06) : 1651 - 1672
  • [7] Online motion monitoring for a class of 3-legged 6-DOF parallel robots
    Yu, SQ
    Chen, WH
    Yang, GL
    Lin, W
    INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOL 1-4, PROCEEDINGS, 2005, : 1634 - 1639
  • [8] Smart-M3-Based Robots Self-Organization in Pick-and-Place System
    Smirnov, Alexander
    Kashevnik, Alexey
    Teslya, Nikolay
    Mikhailov, Sergey
    Shabaev, Anton
    PROCEEDINGS OF THE 17TH CONFERENCE OF OPEN INNOVATIONS ASSOCIATION FRUCT, 2015, : 210 - 215
  • [9] Design and Implementation of Integrated Case Packer based on High Speed Pick-and-Place Robot
    Mei, Jiangping
    Yu, Dongxing
    Cheng, Xingquan
    MANUFACTURING SCIENCE AND MATERIALS ENGINEERING, PTS 1 AND 2, 2012, 443-444 : 121 - 126
  • [10] Optimization and experimental verification of pick-and-place trajectory for a delta parallel robot based on lamé curves
    Xie, Zexiao
    Shang, Dawei
    Ren, Ping
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2015, 51 (01): : 52 - 59
123