Research of two-translation pick-and-place parallel mechanism

2019 ◽  
Author(s):  
Yang Ru ◽  
Hongzhou Wang ◽  
Zhen Jiang
Keyword(s):  
Parallel Mechanism ◽  
Pick And Place

scholarly journals Type synthesis and kinematics analysis of a family of three translational and one rotational pick-and-place parallel mechanisms with high rotational capability

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985307
Author(s):  
Xing Zhang ◽  
Dejun Mu ◽  
Yuze Liu ◽  
Jie Bi ◽  
Hongrui Wang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Hessian Matrix ◽  
Parallel Mechanisms ◽  
Kinematics Analysis ◽  
Type Synthesis ◽  
Lie Group Theory ◽  
Revolute Joints ◽  
Pick And Place ◽  
Pick And Place Operation

This article proposes a family of spatial three translational and one rotational parallel mechanisms (PMs) for pick-and-place operation. Their features are one independent rotation of the mechanism with four identical limbs, which are provided by the four revolute joints on the moving platform. The rotational capability of the PMs has a range of at least 180°. This article focuses on the synthesis of the PMs and kinematics analysis of the 4- P(2-SS)R parallel mechanism. First, based on the Lie group theory, three parallelograms are used in designing the PMs. The limbs are listed and two types of three translational and one rotational PMs are synthesized. Then, a typical 4- P(2-SS)R PM is selected, the 6 × 6 Jacobian matrix and the 6 × 6 × 6 Hessian matrix of the mechanism are derived for solving the displacement, velocity, and acceleration of the mechanism. Finally, singularity configurations are disclosed from the 6 × 6 Jacobian matrix, and the workspace of the mechanism is provided to illustrate the high rotational capability.

On the kinematics of a new parallel mechanism with Schoenflies motion

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2056-2070 ◽  
Author(s):  
Po-Chih Lee ◽  
Jyh-Jone Lee
Keyword(s):  
Closed Form ◽  
Condition Number ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Matrix Algebra ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Pick And Place

SUMMARYThis paper investigates the kinematics of one new isoconstrained parallel manipulator with Schoenflies motion. This new manipulator has four degrees of freedom and two identical limbs, each having the topology of Cylindrical–Revolute–Prismatic–Helical (C–R–P–H). The kinematic equations are derived in closed-form using matrix algebra. The Jacobian matrix is then established and the singularities of the robot are investigated. The reachable workspaces and condition number of the manipulator are further studied. From the kinematic analysis, it can be shown that the manipulator is simple not only for its construction but also for its control. It is hoped that the results of the evaluation of the two-limb parallel mechanism can be useful for possible applications in industry where a pick-and-place motion is required.

One Novel Isoconstrained Parallel Robot With Schoenflies-Motion

2013 ◽  
Author(s):  
Po-Chih Lee
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Point Of View ◽  
Universal Joint ◽  
Small Motion ◽  
Robot Architecture ◽  
Pick And Place ◽  
Pick And Place Operation

The coupling between two opposite bars of the hinged parallelogram produces relative 1-DoF circular translation and the opposite bars can move but remain parallel. From the point of view of kinematics, a hinged parallelogram is equivalent to a prismatic pair for a small motion. On the basis of a special parallel mechanism with the limb architecture of type CPUh (C and P denote cylindrical and prismatic pairs; Uh indicates the pseudo-universal-joint having one revolute and one screw pairs with the intersecting axes), we provide one novel Schoenflies-motion isoconstrained CPaUh//CPaUh robot with only two limbs having the hinged parallelograms for the fast pick-and-place operation of the assembly and packaging applications. This type of robot is compact for not only its structure but also its actuation. The robot architecture and kinematics including inverse and forward solutions are studied. In addition, Jacobian matrix, singularity analysis and workspace are further discussed. It is hoped that the evaluations of such two-limb parallel mechanism can be useful for possible application in industry where pick-and-place motion and higher accuracy are required.

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

Inverse Control of Cable-driven Parallel Mechanism Using Type-2 Fuzzy Neural Network

2010 ◽  
Vol 36 (3) ◽  
pp. 459-464 ◽  
Author(s):  
Cheng-Dong LI ◽  
Jian-Qiang YI ◽  
Yi YU ◽  
Dong-Bin ZHAO
Keyword(s):  
Neural Network ◽  
Parallel Mechanism ◽  
Fuzzy Neural Network ◽  
Inverse Control ◽  
Fuzzy Neural

Statics Analysis on Planar Moving Parallel Mechanism Based on Boundary Element Method

ROBOT ◽  
2010 ◽  
Vol 32 (3) ◽  
pp. 384-389 ◽  
Author(s):  
Yumei HUANG ◽  
Xuzhao HAN ◽  
Feng GAO ◽  
Chun CHEN ◽  
Xingang YANG
Keyword(s):  
Boundary Element Method ◽  
Boundary Element ◽  
Parallel Mechanism ◽  
Element Method

scholarly journals Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

2019 ◽  
Vol 32 (1) ◽  
Author(s):  
Haitao Liu ◽  
Ke Xu ◽  
Huiping Shen ◽  
Xianlei Shan ◽  
Tingli Yang
Keyword(s):  
Explicit Form ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Real Time Control ◽  
Time Control ◽  
Topological Characteristics ◽  
Zero Coupling

Abstract Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other configurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

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