Abstract
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.
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Acknowledgments
The authors gratefully acknowledge the financial support of the Fundamental Research Funds for the Central Universities under grant no. 2021JBM022, the China Postdoctoral Science Foundation under grant no. 2020M680008 and National Natural Science Foundation of China under grant no. 51975039.
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Jin, X., Fang, Y., Zhao, F. (2021). A Class of Double-Delta-Based 6-DOF Pick-and-Place Robots with Integrated Grippers. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_22
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