Matching the Free-Vibration Response of a Delta Robot with Pick-and-Place Tasks Using Multi-Body Simulation

Advances in Mechanical Systems Dynamics 2020

“…The serial configuration (adopted for example in References [42,50,79]) provides the actuator with a compliance that can be employed to decrease contact shocks and to reduce force peaks due to impacts, for example, In human-robot interaction [46]. On the other hand, the parallel configuration [65,[80][81][82] results in simpler mechanism and mathematics formulation [78]. Parallel compliance does not enlarge the configuration space of the robotic system and has a well-posed quadratic cost function for energy consumption minimization with respect to the compliance coefficients [83].…”

“…J.P. Barreto et al exploit the free response of a five bar linkage mechanism [103] and of a Delta robot (Figure 7) [81] to move the system between two given points for a pick-and-place operation in a prescribed time. To reach such a result, a set of springs with optimized parameters (stiffness and equilibrium positions) are added in parallel to the motors.…”

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

“…The serial configuration (adopted for example in References [42,50,79]) provides the actuator with a compliance that can be employed to decrease contact shocks and to reduce force peaks due to impacts, for example, In human-robot interaction [46]. On the other hand, the parallel configuration [65,[80][81][82] results in simpler mechanism and mathematics formulation [78]. Parallel compliance does not enlarge the configuration space of the robotic system and has a well-posed quadratic cost function for energy consumption minimization with respect to the compliance coefficients [83].…”

“…Most of the reviewed works adopt objective functions based on actuators torque, on consumed energy or power. A few works use objective functions based on task time and positions [103], position and velocity of the end-effector [81] or position and velocity errors [91]. Results shown in the last column of Table 2 indicate that all the reviewed approaches for the optimal design problems in natural motion consistently reduce energy consumption.…”

“…Due to their use of gradients and also use of Hessians, these algorithms are referred to as first and second order algorithms. J.P. Barreto et al [81] adopt the gradient-based trust-region-dogleg algorithm on an unconstrained problem, whereas H.J. Bidgoly et al [73], P. Boscariol et al [89] and R.B.…”