A Class of Parallel-Serial Manipulators and Their Application to Material Handling Automation (original) (raw)

Selected problems of design and pre-implementation studies of new types of manipulators

Welding Technology Review, 2021

Conceptual development and testing of models and prototypes of manipulators, supporting the work of industrial robots, has become a specialty of the Department of Welding Engineering of the Warsaw University of Technology and ZAP Robotyka from Ostrow Wielkopolski. However, they are not typical devices, so their development requires a detailed analysis of many aspects, both functional and economic. Also the pre-implementation tests are not included in dedicated standards and must be based on previously developed experimental procedures. This article presents selected problems in the design and research of new types of manipulators, created as a result of joint research and development work.

Development of a Prototype Robot Manipulator for Industrial Pick-and-Place Operations

In the industry today, continuous attempts to realize optimal efficiency and increased productivity have spawned much progress in the use of intelligent automated devices and machines to perform various operations and tasks. The thrust of this work is to present the development of a three-degree-offreedom revolute robot manipulator amenable to pick-and-place operations in the industry. Appropriate kinematic equations of the manipulator are obtained, and then used to develop algorithms for locating predetermined positions of a small object in a customized workspace. An Arduino-based controller circuit is built to implement the algorithms, and servomotors are used to carry out independent joint control of the manipulator. The positions of the object are identified with the aid of lightdependent resistors (LDR). Besides, in order to aid easy fabrication of links and overall system assembly, a 3D model of the manipulator is designed. The results of the work, showing effective and satisfactory operation of the manipulator, are presented.

Orientation Robotic Mechanism used in Industrial Operations

2018

The robot is a complex automated system that has the role of manipulating the parts and tools, replacing the action of human. An industrial robot is a system that does not operate in isolation, it communicates with other robots and machine tools, conveyor belts, thus reaching the idea of a flexible manufacturing cell. One of the most important robot classes is manipulating robots for manufacturing operations, which include industrial robots. There are, undoubtedly, many definitions of the industrial robot, which is a universal machine, used to perform some intellectual activity, human jobs or to have the capacity to replace man in different actions. The goal of this paper is to make a study on the kinematics of the mechanisms involved in industrial robot composition, some data regarding the dynamics of industrial robotic systems and the structure of a robotic position system used in industrial operations in order to optimize and correct the performances. Keywords—Gripper, Industrial...

Alternative Mechanical Modification for Robotic Control

The project consists of the design, manufacture and assembly of a mechanism to aid mechanical movement, thank you to gears and potentiometers to control the movement of the robotic arm, as an alternative to the remote control system. The rotary-type potentiometers control 4 geared motors placed in the waist, shoulder, arm and wrist controls to give greater precision in movements. The precision potentiometer and gears control the gearmotor at the base of the arm to provide an additional 270° degrees of movement. Both the base of the potentiometers and gears were designed in the SolidWorks software, then they were sent in STL format to the CURA software, in which the parameters of the piece to be printed are defined, the material that was used to print each one of the pieces was ABS type filament (acrylonitrile butadiene styrene).

Design of a Mechanical Part of an Automated Platform for Oblique Manipulation

Applied Sciences, 2020

Handling machines are increasingly being used in all sectors of the industry. Knowledge of the theory of transport and handling machines are basic prerequisites for their further technical development. Development in the field of manipulators is reflected not only in their high technical level, but also in increasing safety and economy. The article presents results of research focused on the complete engineering design of a manipulator, which will serve as a mean of the oblique transport of pelletised goods. The manipulator takes the form of a platform moving between two destinations by means of an electromotor. The engineering design of the platform including the track and a working principle is described. The design includes analytical and numerical calculations of main loaded components of the platform. Extensive functional and dimensional calculations serve as the base for preparation of the technical documentation. An important step will be the creation of a parametric model of...