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

页码：236 / 245

页数：10

共 30 条

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