Kinematic and dynamic analysis of a dexterous multi-fingered delta robot for object catching-Reference-Cited by-同舟云学术

Kinematic and dynamic analysis of a dexterous multi-fingered delta robot for object catching

Published:2022-02-03 Issue:8 Volume:40 Page:2878-2908
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Kansal Sachin^ORCID,Mukherjee Sudipto

Abstract

SummaryThis paper presents a new combined 9-DOF [3R-3R-3R] parallel architecture to perform the object catching in the real-time scenario. The architecture design is intended to carry heavy payload objects for the catching. This paper covers modelling the new architecture, kinematics, and dynamic analyses to compute torques/forces at the actuators. The simulation of kinematic and dynamic analysis in MATLAB. Vision sensors, encoders, PID controller, and current limiting are used to perform object catching. The architecture is the only delta robot application designed to catch regular-shaped objects in real-time scenarios.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering,Control and Optimization,Mechanical Engineering,Modeling and Simulation

Reference33 articles.

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2. [1] Bonev, I.A. , “Delta Robot — The Story of Success,” Parallel MIC, May 2001.

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