Optimization of the Reconfiguration Planning of Handling Systems Based on Parallel Manipulators With Delta-Like Architecture (original) (raw)
Related papers
Workspace and Payload-Capacity of a New Reconfigurable Delta Parallel Robot
International Journal of Advanced Robotic Systems, 2013
In this paper the workspace and payload capacity of a new design of reconfigurable Delta-type parallel robot is analysed. The reconfiguration is achieved by adjusting the length of the kinematic chains of a given robot link simultaneously and symmetrically during the operation of the robot. This would produce a dynamic workspace in shape and volume. A numerical analysis of the variation of shape and volume of the workspace and payload capacity of the robot is presented. Based both on the results of this analysis and on practical requirements, a proposal for the design of a reconfiguring mechanism is presented.
A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator
International Journal of Advanced Robotic Systems, 2016
This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.
2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR), 2018
Data availability and modular design of modern production systems allow companies to respond flexibly to changing market conditions and process requirements. Against this background, this contribution presents tools to automatically identify energy efficient (re)configuration patterns. Therefore, market studies are used to reveal industrially relevant demandrelated handling tasks and potential configurations for the wellknown Delta parallel robot, as well as recent design modifications extending its field of application. In this context, optimization approaches are innovatively employed to effectively reduce the configuration space by discarding infeasible candidates and eventually solve the problem of simultaneous selection and allocation of configurations, such that a set of given handling tasks is performed in the most energy efficient way. Additionally, kinematic constraints are included in order to maintain the throughput rates of the underlying system. The approach is easily transferable to a system layout with reconfigurable, but also predetermined subsystems.
Task-oriented configuration design for reconfigurable parallel manipulator systems
International Journal of Computer Integrated Manufacturing, 2005
A reconfigurable parallel manipulator system consists of an inventory of standard interchangeable actuator modules, passive joint modules and customizable links and connectors. Owing to the interchangeability and modularity, a parallel manipulator constructed in this manner can have different structures and degrees of freedom (DOF). This article presents a two-stage design methodology, from structure determination to parameter optimization, for determining task-specific optimal configurations of reconfigurable parallel manipulators. In the structure determination stage, a reconfigurable robot assembly database containing the possible parallel manipulator assemblies is established based on enumeration. A TaskToRobot Map is proposed to map the given task description to a suitable manipulator configuration in the database according to the DOFs of the required task. In the parameter optimization stage, design parameters of the selected manipulator structure, such as link lengths, dimensions of the connectors and actuation schemes are identified. As these parameters contain continuous and discrete variables, synthesis of the manipulator parameters is formulated based on a Simplex optimization method. This design methodology is demonstrated effectively in the selection of a reconfigurable parallel manipulator system for a light machining operation.
Structural design and kinematics of a new parallel reconfigurable robot
Robotics and Computer-Integrated Manufacturing, 2013
Reconfigurable robots can be defined as a group of robots that can have different geometries, thus obtaining different structures derived from the basic one, having different degrees of freedom and workspaces. Thanks to the optimum dexterity they offer, the user can accomplish a large variety of industrial tasks, using a structurally optimized robot leading towards better energy control and efficiency especially in case of batch size production lines where the task (for the robot) may vary periodically. Reconfigurable systems are a challenge for numerous scientists, due to the advantage of dealing with changes and uncertainties on the ever-changing manufacturing market. One of the main problems of reconfigurable robots is the proper structural geometry determination, so that the resulting structure is able to perform a variety of tasks. This paper presents the structural design of an innovative parallel robot with six degrees of freedom and its proposed configurations with five, four, three and two degrees of freedom. The kinematic analysis and the workspace representations of all the presented configurations of the parallel robot, called Recrob, are also presented.
Dynamic optimization and building of a parallel delta-type robot
2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013
In their search for perfection and competitiveness, Colombian industrial concerns now see in robotics a viable way to improve their processes. On such ground, this paper proposes design methodology of a parallel Delta-type industrial robot. This type of robot is an alternative for Colombian industries, since its great advantages of Speed, Precision, and Accuracy make it usable in product packing and selection. The prototype made will allow future applications in the regional industry, guaranteeing a suitable process automation alternative.
Enhancing the useful workspace of a reconfigurable parallel manipulator by grasp point optimization
Robotics and Computer-Integrated Manufacturing, 2015
Reconfigurable parallel manipulators combine the properties of parallel manipulators with high flexibility. However, the workspace of parallel manipulators is, compared to serial manipulators, relatively small and hence the optimization of the useful workspace is an important design factor. Different efficient algorithms for calculating the workspace for parallel manipulators have been developed, but they need to be adapted to reconfigurable systems with additional parameters. These variables for those systems are the parameters of the reconfiguration, e.g. the grasping points. This paper presents a method to obtain the grasping point combinations of a parallel reconfigurable manipulator that leads to a useful workspace containing the largest geometric object. The largest geometric object inside the useful workspace describes its regularity and represents a useful evaluation criterion. The method is introduced for a general reconfigurable parallel manipulator and then studied for the particular case of the PARAGRIP reconfigurable parallel manipulator. The workspace is obtained by applying a combined geometrical and discretization method. To reduce the possible grasping point combinations and thereby reduce computational cost, we apply the special requirements that the grasping point combinations must fulfil. By solving the inverse kinematic problem for each combination the useful workspace is calculated.
Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis
Machines, 2020
Enhancing energy efficiency is one of the main challenges of today's industrial robotics and manufacturing technology. In this paper a task-related analysis of the energetic performance of a 4-DOF industrial parallel robot is presented, and the optimal location of a predefined task with respect to the robot workspace is investigated. An optimal position of the task relative to the robot can indeed reduce the actuators' effort and the energy consumption required to complete the considered operation. The dynamic and electro-mechanical models of the manipulators are developed and implemented to estimate the energy consumption of a parametrized motion with trapezoidal speed profile, i.e., a pick-and-place operation. Numerical results provide energy consumption maps that can be adopted to place the starting and ending points of the task in the more energy-efficient location within the robot workspace.
Dynamic modelling and energy-efficiency optimization in a 3-DOF parallel robot
The international journal of advanced manufacturing technology/International journal, advanced manufacturing technology, 2024
Energy efficiency is a challenging and relevant research field in modern manufacturing industries, where robotic systems play an essential role in the automation of several industrial operations. In this paper, we present an approach for the energyefficiency optimization of a 3-DOF parallel robot. The proposed strategy leverages the task placement, the execution time, and the length of the robot lower arms to minimize the energy consumption for the execution of a predefined high-speed pick-andplace operation. To evaluate the actuators energy consumption, the kinematic, dynamic and electro-mechanic mathematical models, as well as an equivalent multibody model, of the parallel robot are implemented. The results of extensive numerical simulations show that the proposed strategy provides notable improvements in the energy efficiency of the parallel robot, with respect to alternative approaches. Starting from a pick-and-place task with optimal task placement with a consumption of 38.2 J (with a cycle time of 0.4 s), the energy expenditure can be reduced to 3.75 J (with a cycle time of 1.86 s), with a reduction percentage of 90.2%, by additionally optimizing the execution time, and the length of the robot lower arms. These results lead to a reduction from 5733 J/min (for 150 cycles/min) to 121 J/min (for 32 cycles/min), allowing to choose the best trade-off between robot productivity and consumed energy.