Modeling and Design of a Five Degrees-of-Freedom Delta-Like Robot for Fast Pick-and-Place Applications

Author:

Le Mesle Valentin1,Bégoc Vincent2,Briot Sébastien3

Affiliation:

1. MG-Tech Angers, École Centrale de Nantes , Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, 44321 Nantes , France

2. Institut Catholique d’Arts et Métiers (ICAM) , Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, 44321 Nantes , France

3. Centre National de la Recherche Scientifique (CNRS) , Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, 44321 Nantes , France

Abstract

Abstract Delta-like architectures are widely used for fast pick-and-place applications. When rotational degrees-of-freedom are required to perform a task, one or more UPU kinematic chains are usually added to transmit the torques from motors located on the base to the platform, in order to actuate a wrist. Packaging applications usually require five degrees-of-freedom, and two UPU chains are then used to actuate two rotational degrees-of-freedom (DOFs) on the end-effector. However, the UPU chain induces significant limitations for industrial use: it significantly constrains the workspace along the vertical direction and implies a backlash in the universal joints degrading the accuracy of the robot. In this paper, we investigate an alternative to the UPU kinematic chain for designing delta-like robots with five DOFs. Indeed, the actuation of a two-DOFs wrist is performed through the use of a kinematic chain based on a succession of parallelograms associated with a delta-like leg. After a description of the kinematic models of the modified leg and an analysis of its singularities, a design optimization procedure is presented in order to define suitable geometric parameters for a given industrial application. Finally, a prototype is presented and its performances are evaluated.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

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