A 2 Dof Continuum Parallel Robot for Pick &amp; Place Collaborative Tasks

Campa, Francisco J.; Díez, Mikel; Diaz-Caneja, D.; Altuzarra, Oscar

doi:10.1007/978-3-030-20131-9_196

Cited by 16 publications

(11 citation statements)

References 4 publications

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“…In [24], the authors applied an hybrid force/position controller to a Delta robot in order to allow safe interactions. More recently in [25], a collaborative parallel robot for pick-and-place tasks has been proposed. It is based on a regular five-bar mechanism whose distal links have been replaced by links made of soft material so that they can deform in case of collision, avoiding transmitting energy during impact.…”

Section: Introductionmentioning

confidence: 99%

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

Jeanneau

Begoc

Briot

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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This paper introduces an intrinsically safe parallel manipulator dedicated to fast pick-and-place operations, called R-Min. It has been designed to reduce the risk of injury during a collision with a human operator, while maintaining high speed and acceleration. The proposed architecture is based on a modification of the well-known planar five-bar mechanism, where additional passive joints are introduced to the distal links in order to create a planar seven-bar mechanism with two degrees of underactuation, so that it can passively reconfigure in case of collision. A supplementary passive leg, in which a tension spring is mounted, is added between the base and the end-effector in order to constrain the additional degrees of freedom.A prototype of this new collaborative parallel robot is designed and its equilibrium configurations under several types of loadings are analyzed. Its dynamics is also studied. We analyze the impact force occurring during a collision between our prototype and the head of an operator and compare these results with those that would have been obtained with a rigid five-bar mechanism. Simulation results of impact during a standard pick-and-place trajectory of duration 0.3 s show that a regular five-bar mechanism would injure a human, while our robot would avoid the trauma.

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Section: Introductionmentioning

confidence: 99%

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

Jeanneau

Begoc

Briot

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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“…All solutions to the inverse kinematics problem are provided by interval Analysis in [16]. Several variations of the design are studied in [17], while one design is manufactured and experimentally verified [18]. The planar PCR proposed in [19] consist of a rigid end-effector coupled to two links, one flexible and one rigid.…”

Section: A Related Workmentioning

confidence: 99%

Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

Nuelle

Sterneck

Lilge

et al. 2020

IEEE Robot. Autom. Lett.

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In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform.During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.

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“…This structure provides higher safety than common industrial robots thanks to the flexibility of the PCR's limbs. For instance, Campa et al proposed a planar PCR to perform safer collaborative robot applications (Campa et al, 2019). The flexibility of the limbs provides large continuous deformations that allow for a large workspace.…”

Section: Introductionmentioning

confidence: 99%

“…For this reason, physical-based models with high fidelity distributed parameters and variable curvature assumption are preferred. Depending on the structure, Cosserat-rod-based models (Trivedi et al, 2008;Orekhov et al, 2017;Till and Rucker, 2017;Black et al, 2018) or Kirchhoff-rod-based ones (Takano et al, 2017;Altuzarra and Merlet, 2019;Campa et al, 2019) gained consensus because of their ability to predict the shape and forces of the rods. In the case of tendon-actuated continuum structures, Rao et al proposed guidelines to choose a model depending on the targeted application (Rao et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Micrometer Positioning Accuracy With a Planar Parallel Continuum Robot

Mauzé

Laurent²,

Dahmouche³

et al. 2021

Front. Robot. AI

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Parallel Continuum Robots (PCR) have several advantages over classical articulated robots, notably a large workspace, miniaturization capabilities and safe human-robot interactions. However, their low accuracy is still a serious drawback. Indeed, several conditions have to be met for PCR to reach a high accuracy, namely: a repeatable mechanical structure, a correct kinematic model, and a proper estimation of the model’s parameters. In this article, we propose a methodology that allows reaching a micrometer accuracy with a PCR. This approach emphasizes the importance of using a repeatable continuum mechanism, identifying the most influential parameters of an accurate kinematic model of the robot and precisely measuring them. The experimental results show that the proposed approach allows to reach an accuracy of 3.3 µm in position and 0.5 mrad in orientation over a 10 mm long circular path. These results push the current limits of PCR accuracy and make them good potential candidates for high accuracy automatic positioning tasks.

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A 2 Dof Continuum Parallel Robot for Pick & Place Collaborative Tasks

Cited by 16 publications

References 4 publications

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

Micrometer Positioning Accuracy With a Planar Parallel Continuum Robot

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