International audienceThe paper presents an optimal design of a parallel manipulator aiming to perform pick-and-place operations at high speed and high aceleration
This paper introduces a four-degree-of-freedom parallel manipulator dedicated to pick-and-place. It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of Delta, H4 and I4 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, an optimization method based on velocity using Adept Motion has been developed and applied to this high speed parallel robot. All these considerations led to experimentations that proved we can reach high accelerations (13 G) and obtain a cycle time of 0.28 s.
This paper introduces a new two-degree-offreedom parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize those dof is their lack of rigidity along the transversal axis, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed architecture is a spatial mechanism which guarantees a good stiffness along the transversal axis. This parallel architecture is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the passive chains which are coupled for creating a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2 dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 40 g can be achieved while keeping a low tracking error.
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