کنفرانس مهندسی برق ایران

صفحه اصلی / سی و یکمین کنفرانس بین المللی مهندسی برق

Experimental Study on the Pick-and-Place Operation of a 3-DOF Delta Parallel Robot

نویسندگان :

Amirreza Nouri¹ Soheil Davoudi² Sina Vali³ Arvin Mohammadi⁴ Ali Ravari⁵ Ehsan Akhavan Saraf⁶ Mehdi Tale Masouleh⁷

1- دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران) 2- شرکت توان رسان 3- دانشگاه تهران 4- دانشگاه تهران 5- شرکت توان رسان 6- شرکت توان رسان 7- دانشگاه تهران

کلمات کلیدی :

3-DOF Delta parallel Robot،Kinematics Analysis،Workspace Determination،Trajectory Planning،Pick-and-Place Operation

چکیده :

This paper presents kinematic analysis, verification, and workspace determination for the trajectory planning purpose of a 3-DOF Delta parallel robot. The Delta robot was designed and built by Tavan Resan company on an industrial scale. Analytical solutions of the forward and inverse kinematic problems of the under-study robot are provided and verified in Simscape simulation. The manipulator's workspace is obtained using a discretization method, in which joints limits and mechanical interference are taken into account to the end of obtaining a more realistic workspace. The Robot's singular loci are determined, and by visual inspection, it reveals that the robot entails a singularity-free workspace by considering joint limits, which can be regarded as a definite asset in practice. At last, a 4-5-6-7 trajectory planning technique is implemented in order to make the manipulator's end-effector movement as smooth as possible for pick-and-place operations in the determined workspace. Also, experimental tests were executed to observe the robot's behavior and verify the kinematic equations.