A 4-DoF Parallel Robot With a Built-in Gripper for Waste Sorting

被引：19
|
作者：
Leveziel, Maxence [1 ]
Laurent, Guillaume J. [1 ]
Haouas, Wissem [1 ]
Gauthier, Michael [1 ]
Dahmouche, Redwan [1 ]
机构：
[1] Univ Bourgogne Franche Comte, CNRS UFC ENSMM, FEMTO ST Inst, F-25000 Besancon, France
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 04期
关键词：
Mechanism design; parallel robots; industrial robots; DESIGN; MANIPULATOR;
D O I：
10.1109/LRA.2022.3192582
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This article presents a new robot concept dedicated to fast and energy-efficient waste sorting applications. This parallel robot can provide at the same time the three translations in space (3-DoF) and the opening/closing of a built-in gripper (1 additional DoF). The movement of the clamp is enabled thanks to a configurable platform at the end of the parallel structure. This platform is composed of a two-gear train gripper which is directly controlled by the 4 actuators attached to the base of the manipulator. The inverse kinematic as well as the differential models have been developed. A first prototype has been realized to validate this new parallel architecture for pick-and-toss tasks.
引用
收藏
页码：9834 / 9841
页数：8
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